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Abstract: This paper generalizes our recent results on global robust output regulation of output feedback systems with integral input-to-state stable (iISS) inverse dynamics in two aspects. First, we consider the general relative degree case instead of the unity relative degree case. For this purpose, the one step approach proposed previously has to be generalized to a recursive approach. Second, we allow the exosystem to be uncertain. For this purpose, we need to introduce an adaptive control technique to estimate the unknown parameter vector in the exosystem. A convergence analysis of the estimated parameter vector will also be given. [Copyright &y& Elsevier]

Abstract: The parameter convergence of nonlinear adaptive control systems is an important yet not well addressed issue. In this paper, using the global robust output regulation problem of output feedback systems with unknown exosystems as a platform, we will show that the well known persistency of excitation (PE) condition still guarantees the convergence of the estimated parameter vector to the true parameter vector. Moreover, the PE condition will be satisfied if the internal model is minimal in certain sense. [Copyright &y& Elsevier]