1 Introduction. - 1. 1 The basic ingredients of asymptotic output regulation. - 1. 2 The computation of the steady-state response. - 1. 3 Highlights of output regulation for linear systems. - 2 Output Regulation of Nonlinear Systems. - 2. 1 The regulator equations. - 2. 2 The internal model. - 2. 3 Necessary and sufficient conditions for local output regulation. - 2. 4 The special case of harmonic exogenous inputs. - 2. 5 Approximate regulation. - 3 Existence Conditions for Regulator Equations. - 3. 1 Linear regulator equations and transmission zeros. - 3. 2 The zero dynamics of a nonlinear system. - 3. 3 Existence of solutions of the nonlinear regulator equations. - 4 Robust Output Regulation. - 4. 1 Structurally stable local regulation. - 4. 2 Robust local regulation. - 4. 3 The special case of systems in triangular form. - 4. 4 A globally defined error-zeroing invariant manifold. - 4. 5 Semiglobal robust regulation. - Bibliographical Notes. Language: English