About a Post-processing Design of Regression-like Nonlinear Internal Models

This paper deals with the problem of output regulation for minimum-phase single-input single-output nonlinear systems. We propose a variation of the \u201cregression-like\u201d design introduced by Byrnes and Isidori (2004), showing how it is possible to move the internal model from the control input to the regulation error. In this way, we obtain a post-processing scheme that more likely resembles the general design for linear systems. Although these approaches are equivalent for single-input single-output systems, a post-processing design represents a step forward in the systematic extension of the theory to the general multivariable case