This paper presents the solution of the global robust output regulation problem for a class of nonlinear systems without knowing the control direction. The class of the systems is larger than previously studied strict output feedback systems of relative degree equal to one. The result is also applied to an asymptotic tracking problem associated with the well-known Lorenz system.
Output Regulation Design for a Class of Nonlinear Systems With an Unknown Control Direction
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Xu, D., and Huang, J. (December 9, 2009). "Output Regulation Design for a Class of Nonlinear Systems With an Unknown Control Direction." ASME. J. Dyn. Sys., Meas., Control. January 2010; 132(1): 014503. https://doi.org/10.1115/1.4000076
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