Uniform Practical Output Regulation

We present a solution to the problem of asymptotic and practical semiglobal regulation by output feedback for nonlinear systems. The work is based on a non-equilibrium framework and it is characterized by the absence of any immersion assumption. A key feature of the proposed approach is that practical regulation is achieved uniformly with respect to the dimension of the internal model and to the gain of the stabilizer near the zero error manifold. This property renders the approach interesting for a number of real cases by bridging the gap between output regulation theory and advanced engineering applications. Simulation results regarding meaningful control problems are also presented