Constructive Nonlinear Internal Models for Global Robust Output Regulation and Application

This technical note focuses on an internal model construction approach. Several novel types of parameterized non-linear internal models with certain output are proposed to be useful for achieving nonadaptive control based global robust output regulation with uncertain exosystems. That is, the globally stabilizing control for the augmented system can be done independent of adaptive stabilization control law. We also solve a cooperative global robust output regulation problem as an interesting application of the proposed internal models. In this way, we note that the hurdles can be circumvented arising in the same problem if the canonical linear internal model were used.