Practical Output Regulation without High-Gain

The main goal of the paper is to complement the theory of nonlinear output regulation without immersion presented in Marconi (2005) with results useful for practical design of the regulator. In a general framework relying only on an assumption about stabilizability of the zero dynamics of the controlled plant, we present explicit expressions of the regulator and a practical design procedure leading to a regulator achieving practical regulation uniformly in the local gain of the stabilizer and in the dimension of the internal model