Output regulation for a class of weakly minimum phase systems and its application to a nonlinear benchmark system

In this paper, we study the global robust output regulation for a class of weakly minimum phase nonlinear systems. By employing the internal model design technique, we first convert the problem into a global robust stabilization problem of an augmented system whose structure has not been encountered before. Then we develop a methodology to solve this stabilization problem via state feedback, by utilizing the saturation function. Finally, the methodology is applied to solve the disturbance rejection problem of the RTAC system.