Global robust regulation of lower triangular systems via measurement feedback

Global robust stabilization or regulation problem for lower-triangular systems has been studied recently under various assumptions by state feedback control. In this paper, we consider a more complicated and practical situation when disturbances appear in sensors. Under this situation, the plant states cannot be precisely measured, and the state feedback control laws are not implementable. Instead, the measurement feedback control laws become interesting. This paper gives a new mechanism using the internal model principle for designing measurement feedback control laws to solve the robust regulation problem of lower-triangular systems.