A general framework for tackling the output regulation problem

By Jie Huang, Zhiyong Chen. IEEE Transactions on Automatic Control, 2004

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Global output regulation for strict‐feedback nonlinear systems with mismatched nonvanishing disturbances (2015, background): “The nonlinear output regulation theory provides an effective way to compensate the effects of exogenous disturbances by including the disturbance models in the controller design; however, the solvability of a set of nonlinear partial differential equations is always required to derive the controller”
Cooperative robust output regulation of a class of heterogeneous linear uncertain multi‐agent systems (2014, methodology): “In this section, we first specialize a framework for handling the nonlinear robust output regulation described in [12] to the following linear systems.”
Adaptive disturbance rejection for strict‐feedback switched nonlinear systems using multiple Lyapunov functions (2014, background): “It is important to stress that the internal model principle is still best suited to the output regulation problem for non-switched systems [12].”
Attitude Tracking and Disturbance Rejection of Rigid Spacecraft by Adaptive Control (2009, methodology): “Second, to identify the unknown disturbance in System , in Section IV, we make use of the robust output regulation theory as developed in [3], [7], [9], [18] to reproduce the unknown external disturbance by a class of dynamic compensators known as internal models.”