Global output regulation with minimum information of uncertain nonlinear systems subject to exogenous signals

The paper deals with global output regulation of uncertain nonlinear system s affected by disturbances which are generated from a known exosystem. The information needed for the control design is that the uncertain system sati sfies the geometric conditions for the output feedback form with stable zer o dynamics and the parameterisation is linear for unknown constant paramete rs and the unmeasurable disturbances. This information is minimum compared with the conditions specified in the literature for global output regulatio n. The proposed control design does not require any knowledge of the high-f requency gain and the bound of the uncertain parameters. The uncertainties parametrised by unknown constant parameters and by the unmeasurable disturb ances are treated in a unified way in the proposed control design.