Semiglobal robust output regulation with generalized immersion

The semiglobal robust output regulation problem is solved in this paper for a class of nonlinear systems that do not satisfy the standard conditions for the existence of a linear internal model, but admit a so-called "generalized immersion." It is shown how the obstacle given by the presence of the exosystem dynamics in the generalized immersion mapping can be overcome by resorting to a recently developed framework for time-varying internal model design.