2026-07-072026-07-07http://salesiana.dossiersoluciones.com/handle/123456789/69181In this paper we show how nonlinear internal models can be effectively used in the design of output regulators for nonlinear systems. This result provides a significant enhancement of the non-equilibrium theory for output regulation, which we have presented in the recent paper entitled "Limit Sets, Zero Dynamics, and Internal Models in the Problem of Nonlinear Output Regulation".Optimization and Control93C10; 93C15text