Global adaptive output regulation for a class of nonlinear systems with iISS inverse dynamics

The output regulation problem for a class of nonlinear systems with integral input-to-state stable inverse dynamics was studied recently for the case where the exosystem is known. In this paper, we further study the same problem for the case where the exosystem contains uncertain parameters. For this purpose, we need to employ adaptive control techniques to deal with the unknown parameters in the exosystem. Our design method will be illustrated using a disturbance rejection problem of a shunt DC motor.