2002 Volume 15 Issue 7 Pages 336-343
In this paper, we solve the problem of global output regulation for a single-input single-output nonlinear system driven by a globally stable exosystem. The proposed approach does not require the system to have a relative degree. Some invariant manifolds that specify the behavior of the system are introduced to transform the system repeatedly. In order to guarantee the global stability of the system on these manifolds, a backstepping-like design method is adopted. The global output regulation of the system is shown to be performed by a state feedback law under linear growth conditions and several assumptions. We demonstrate the effectiveness of proposed method through a numerical simulation.