Continuous feedback asymptotic output regulation for a class of nonlinear systems having nonstabilizable linearization

The problem of output regulation for a class of nonlinear systems in the so-called local bijective triangular form is studied. This class of nonlinear systems is characterized by having noncontrollable and possibly nonstabilizable linear approximation and having no well-defined relative degree. A class of continuous static feedback control law is constructed. Computer simulations are also used to show the feasibility of the proposed approach