Generalized output regulation problem for a class of nonlinear systems with nonautonomous exosystem

The problem of the generalized output regulation is considered here. In contrast to the classical output regulation problem, where the references to be tracked and disturbances to be rejected are generated by an autonomous exogeneous system, for the generalized output regulation an exogenous system is driven by an unknown external reference signal. In such a way, the class of reference or disturbance signals is expanded. Presented result solves the full measurement feedback case and is based on the well-known notion of the regulator equation combined with the classical concept of the invariant distribution. Illustrative example, including MATLAB-SIMULINK simulations, is presented to demonstrate the suggested approach. Index Terms--Differential geometric, nonlinear continuous time systems, output regulation.