Uniform Output Regulation of Nonlinear Systems - A Convergent Dynamics Approach

This study of the nonlinear output regulation problem embraces local as well as global cases, covering such aspects as controller design and practical implementation issues.
From the reviews:
'The authors treat the problem of output regulation for a nonlinear control system...[they] develop a global approach to output regulation along familiar lines....I found the book to be ambitious and rigorous, tackling some hard conceptual issues.' --IEEE TRANSACTIONS ON AUTOMATIC CONTROL