Global Robust Output Regulation of Lower Triangular Systems with Nonlinear Exosystems

摘要

This paper studies the global robust output regulation problem for lower triangular systems subject to nonlinear exosystems. By employing the internal model approach, we will first show that this problem can boil down to a global robust stabilization problem of a time-varying nonlinear system in the cascade-connected form. Then a set of sufficient conditions for the solvability of the problem is derived, thus leading to the solution of the global robust output regulation problem.