Nonlinear output regulation with saturated control for a class of non-minimum phase systems

This paper proposes a new design for nonlinear output regulation of a class of non-minimum phase systems. The proposed controller is applicable to some scenarios that are still difficult to solve so far in output regulation, such as nonlinear systems that have extra output measurement in addition to the regulated output, and nonlinear systems that have unstable zero dynamics. The proposed regulator is designed with a post-processing internal model and a high-gain based stabilizer while most of the existing results are constituted by the pre-processing internal model.