A relation between the output regulation and the observer design for nonlinear systems

Output regulation and observer design are two important problems for nonlinear systems, and there is a vast literature addressing each problem separately in the control literature. Isidori and Byrnes 1] have solved the output regulation problem for nonlinear systems with a Poisson stable exosystem, and Sundarapandian 2] has solved the exponential observer design problem for Lyapunov stable nonlinear systems. In this paper, we demonstrate that for a special class of Lyapunov stable nonlinear systems, namely neutrally stable systems, the exponential observer design problem can be solved by converting it into an output regulation problem and then solving the new problem using the output regulation techniques of Isidori and Byrnes 1]. Finally, we present the corresponding results for the discrete-time case.