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Output regulation for robustly minimum-phase multivariable nonlinear systems

The problem of output regulation for MIMO systems is addressed. Taking full advantage of all controls and all available measurements, by appealing to a general notion of “robust” minimum-phase, a design procedure is proposed. The results are complemented with the design, under appropriate assumption, of an adaptive (nonlinear) internal model so as to handle parametric uncertainties in the exosystem.