Emulation-based semiglobal output regulation of minimum phase nonlinear systems with sampled measurements

We investigate the semiglobal output regulation of minimum-phase single-input single-output nonlinear systems with sampled measurements. We proceed by emulation. We start by considering a continuous-time regulator, which solves the problem in the absence of sampling. Then, we consider sampled measurements and we model the overall system as a hybrid system. We show that the original continuous-case properties are preserved when the measurements are sampled provided that the maximum allowable transmission interval satisfies a given explicit bound.