A global state feedback output regulating control for uncertain systems in strict feedback form

A family of single-input, single-output, nonlinear systems in strict feedback form with uncertain constant parameters which appear linearly and belong to a known compact set ΠΠ is considered. A global robust output regulation problem via state feedback is addressed and solved under the assumptions that the regulator equations are solvable in ΠΠ, the output equation does not depend on uncertain parameters, no modelled disturbances affect the system and the output reference signal is generated by a known exosystem whose state is bounded and available for feedback. Robust adaptive techniques are used to guarantee closed loop boundedness and to achieve, without requiring persistency of excitation, global asymptotic output regulation for a class of feedback linearizable systems which may have unbounded uncertain tracking dynamics or may not have a well-defined global relative degree.