Global Robust Output Regulation of a Class of Nonlinear Systems with Nonlinear Exosystems and its Application

Abstract

An adaptive robust output regulation design is proposed for the output feedback systems with a nonlinear exosystem. A new nonlinear internal model is first designed for the control input. The output feedback control design is further achieved based on a type of state filter which is designed for the transformed augmented system. The adaptive control technique is successfully incorporated in the stabilization design to ensure the global stability of the proposed control design for output regulation. The result is successfully applied to solve a tracking control problem associated with the well known Chua’s circuit.