Output Regulation of Nonlinear Systems

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1 Title 2 Outline 3 Center Manifold Definition 4 Center Manifold Theorem: Existence and Characterization 5 Center Manifolds and Stability 6 Problem Formulation 7 Problem Statements 8 Notation for Linear Approximations 9 Linear Regulator Theory: Assumptions 10 Linear Regulator Theory: Necessary and Sufficient Conditions 11 Nonlinear Regulator Problems: Assumptions 12 Solution of Nonlinear Regulator Problems: Lemmas 13 Solution of Nonlinear Regulator Problem 1 14 Solution of Nonlinear Regulator Problem 2 15 Nonlinear Zero Dynamics 16 Solvability in Terms of Zero Dynamics 17 Solvability in Terms of Zero Dynamics (cont'd) 18 Solvability in Terms of Zero Dynamics (cont'd) 19 Solvability in Terms of Zero Dynamics (cont'd) 20 Example 21 Example (cont'd)