Nonlinear regulation for a class of discrete-time systems

This paper deals with nonlinear discrete-time regulation for multi-input, multi-output plants. Conditions involving solvability of nonlinear transcendental equations are set. Following the approach recently developed by Isidori and Byrnes (1990) for continuous time systems, the existence of solutions to the posed problem is proved by investigating the properties of the zero dynamics. Finally a condition is given for the existence of an arbitrary approximation of the nonlinear solution. © 1993