Robust Output Regulation

The purpose of this Chapter is to study problems of output regulation in the presence of parameter uncertainties. In order to facilitate the exposition of the material, we proceed by addressing problems of increasing complexity, beginning with the solution of a problem of local output regulation in the presence of small parameter variations, then continuing with the solution of a problem of local output regulation in the presence of parameter variations ranging on prescribed sets, and then ending with design of a controller solving the problem of output regulation for any initial condition over an arbitrarily large (but fixed) compact set, robustly with respect to unknown parameters also ranging over an arbitrarily large (but fixed) compact set.