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This paper deals with the problem of robust output regulation of systemsgoverned by nonlinear contraction semigroups. After adding an integral actionto the system, we design a feedback law based on the so-called forwardingapproach. For small constant perturbations, we give sufficient conditions forthe existence of a locally exponentially stable equilibrium at which the outputcoincides with the reference. Under additional assumptions, global asymptoticstability is achieved. All these conditions are investigated in the case ofsemilinear systems, and examples of application are given.

Output regulation of infinite-dimensional nonlinear systems: a forwarding approach for contraction semigroups