Internal models are nowadays customarily used in different domains of science and
engineering to describe how living organisms or artificial computational units embed their …

This tutorial paper deals with the Internal Model Principle (IMP) from different perspectives.
The goal is to start from the principle as introduced and commonly used in the control theory …

In this article, we consider the joint problems of state estimation and model identification for
a class of continuous-time nonlinear systems in the output-feedback canonical form. An …

In this paper we propose a new design paradigm, which employs a postprocessing internal
model unit, to approach the problem of output regulation for a class of multivariable …

In linear system theory, it is a well-known fact that a regulator given by the cascade of an
oscillatory dynamics, driven by some regulated variables, and of a stabiliser stabilising the …

This note deals with the problem of output regulation for nonlinear systems in presence of
periodic exogenous signals. We investigate the asymptotic properties of a controller given …

The problem of output regulation for general multivariable linear systems has been solved in
the 70s, in the seminal works of Francis, Wonham and Davison, under the assumption that …

This article concerns the problem of adaptive output regulation for multivariable nonlinear
systems in normal form. We present a regulator employing an adaptive internal model of the …

This paper deals with a tracking problem for nonlinear systems. We present sufficient
conditions for the state-feedback output tracking problem, in case of arbitrarily large constant …

In this paper we review the problem of output regulation for nonlinear systems. We discuss
how the robustness properties and the simple structure of the linear regulator are linear …