中文摘要：

没有沿着 exosystems 的轨道的管理者方程的答案应该是多项式的假设，这份报纸与非线性的 exosystems 学习一个柔韧的输出规定问题。基于不变的生成器和内部模型，的扩大概念为这个问题的解决之可能性的一套足够的条件被给。因此，在这份报纸开发的结果能允许有非线性的 exosystems 的柔韧的产量规定问题包括包含 nonpolynomial 非线性的那些提供更一般的非线性的给定的植物。

英文摘要：

This paper studies a robust output regulation problem with nonlinear exosystems without the assumption that the solution to the regulator equations along the trajectory of the exosystems should be polynomial. Based on the extended concepts of steady-state generator and internal model, a set of sufficient conditions for the solvability of the problem are given. Thus, the result developed in this paper can allow the robust output regulation problem with nonlinear exosystems to accommodate much more general nonlinear given plants including those which contain nonpolynomial nonlinearity.