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This paper considers a class of nonlinear output regulation problems for the rotational rigid body equations. The equations of motion for the rigid body are written in the natural  SO (3) representation. The presented design consists of an observer and a certainty equivalence implementation of an independently designed state feedback law. The proposed solution is global and achieves almost global convergence in the closed loop

Global Output Regulation for the Rotational Dynamics of a Rigid Body / Globale Ausgangsregelung für die Drehbewegung eines Starrkörpersystems