tput u is a function of the states x and w of the plant and,

respectively, of

the exosystemThe interconnection of (8.4) and (8.6) yields a closed

loop system described

by the equations

x= f(x,w,a(x,w)) w s(w) .

u = a(x,w). (8.6)

In particular, it is assumed that o:(O,0) =0, so that the closed loop

system (8.7) has an equilibrium at (x,w) = (0,0).

A more realistic, and rather common, situation is the one in which

only the components of the error e are available for measurement.
In this case, it is said that the controller is provided with error
feedback and the latter is a dynamical nonlinear system, modeled
by equations of the form

~ = TJ(~, e)

(8.8)

u = 0(~)'

with internal state ~ defined in a neighborhood S of the origin in JRv.

The interconnection of (8.4) and (8.8) yields in this case a closed
loop system characterized by the equations

;i; f(x,w,O(~)))TJ(~,h(x,w)) (8.9)

w s(w) .

Again, it is assumed that TJ(O, 0) = 0 and 0(0) = 0, so that the

triplet (x,~,w) = (0,0,0) is an equilibrium ofthe closed loop system (8.9).

The purpose of the control is to obtain a closed loop system in

which, for every exogenaus input w(-) (in the prescribed family) and
every initial state (in some neighborhood of the origin), the output
e() decays to zero as time tends to infinity. When this is the case,
the closed loop system is said to have the property of output
regulation. Note that, in view of the discussion held in the previous
section, the requirement in question is essentially the require- ment
that each exogenaus input w(-) induces, in the closed loop system, a
steady state response X 88 ( ) such that

h(xss(t),w(t)) =0

for all t ~ 0. Since a basic requirement, in this setup, is the existence

of a well defined steady state response to each input generated by
the exosystem (8.5), we appeal to the sufficient conditions
presented in the previous section (see Proposition 8.1.1) for the
existence