Output regulation of nonlinear systems with delay

Output regulation of retarded type nonlinear systems is considered. Regulator equations are derived, which generalize Francis–Byrnes–Isidori equations to the case of systems with delay. It is shown that, under standard assumptions, the regulator problem is solvable if and only if these equations are solvable. In the linear case, the solution of these equations is reduced to linear matrix equations. An example of a delayed Van der Pol equation illustrates the e6ciency of the results. c © 2003 Elsevier B.V. All rights reserved.