The local output regulation problem: Convergence region estimates

In this paper, the problem of local output regulation is considered. The presented results answer the question: given a controller solving the local output regulation problem, how to estimate the set of admissible initial conditions for which this controller makes the regulated output converge to zero. Theoretical estimation results and an estimation procedure explaining the application of these results in practice are presented. An example of the disturbance rejection problem for a mechanical system (TORA system) is given as an illustration.