Regulation and Tracking in Nonlinear Systems

  • Alberto IsidoriEmail author
Part of the Advanced Textbooks in Control and Signal Processing book series (C&SP)


In this chapter, the problem of asymptotic tracking/rejection of exogenous commands/disturbances for nonlinear systems is discussed. Results that extend those developed earlier in Chap.  4 for linear systems are presented. The discussion follows very closely the analysis of necessary conditions presented in Sect.  4.3 and the construction of a regulator presented in the second part of Sect.  4.6. The construction of an internal model, though, requires a different and more elaborate analysis, for which two alternatives are offered. The chapter is complemented with a discussion of a simple problem of inducing consensus in a network of nonlinear agents.


Internal Model Laplacian Matrix Output Regulation Minimum Phase Augmented System 
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Copyright information

© Springer International Publishing Switzerland 2017

Authors and Affiliations

  1. 1.Dipartimento di Ingegneria Informatica, Automatica e GestionaleUniversità degli Studi di Roma “La Sapienza”RomeItaly

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