A class of nonlinear internal models and its application

The global robust output regulation problem of nonlinear systems in output feedback form has been studied via a linear internal model. In this paper, we study the same problem using a class of nonlinear internal models. An advantage of nonlinear internal models is that it exists even when the system contains non-polynomial nonlinearity and the exosystem is nonlinear. Thus, the result of this paper applies to a larger class of nonlinear systems and a larger class of exosystems.