Uniform Output Regulation of Nonlinear Systems: A Convergent Dynamics Approach

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This study of the nonlinear output regulation problem embraces local as well as global cases, covering such aspects as controller design and practical implementation issues.

From the reviews:

The authors treat the problem of output regulation for a nonlinear control system…[they] develop a global approach to output regulation along familiar lines….I found the book to be ambitious and rigorous, tackling some hard conceptual issues. –IEEE TRANSACTIONS ON AUTOMATIC CONTROL