Adaptive Semiglobal Nonlinear Output Regulation: An Extended-State Observer Approach

This note proposes a new extended-state observer-based framework for adaptive nonlinear regulator design of a class of nonlinear systems, in the general nonequilibrium theory. By augmenting an adaptive extended-state observer with an internal model, one is able to obtain an estimate of the term containing uncertain parameters, which then makes it possible to design an adaptive internal model in the presence of a general $nonlinearly\ parameterized$ immersion condition.