This monograph couples output regulation with several recent
developments in modern control theory. It re-examines output
regulation theory to achieve a design of controllers that take into
account the physical limiting characteristics of actuators such as
saturation. The book provides a solution to the basic problem of
finding a controller that achieves internal stabilization, results
in a desired performance norm, and renders asymptotic tracking of a
reference signal even in the presence of persistent disturbances.
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