Classical exact output regulation
The precise formulation and study of the classical exact output regulation problem is the topic of this chapter. We consider a system with an exogenous input and a control input (both might be vector-valued). The exogenous input is generated by an autonomous system (i.e. a system without inputs) which is called the exosystem. The objective is to find a feedback controller such that an output of the system converges to zero as time tends to infinity. This can be used to model asymptotic tracking as well as asymptotic disturbance rejection.
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