A design technique for optimal nonlinear regulation of linear plants, based on a homogeneous feedback law of degree <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2p - 1 (p > 1/2)</tex> , is developed.
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Salehi et al. (1982) studied this question.
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