Abstract
The paper deals with global output regulation of uncertain nonlinear systems affected by disturbances which are generated from a known exosystem. The information needed for the control design is that the uncertain system satisfies the geometric conditions for the output feedback form with stable zero dynamics and the parameterisation is linear for unknown constant parameters and the unmeasurable disturbances. This information is minimum compared with the conditions specified in the literature for global output regulation. The proposed control design does not require any knowledge of the high-frequency gain and the bound of the uncertain parameters. The uncertainties parametrised by unknown constant parameters and by the unmeasurable disturbances are treated in a unified way in the proposed control design.
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