This paper considers the problem of robust output regulation of nonlinear systems in semi strict-feedback form in the presence of model uncertainties and nonvanishing disturbances. In the proposed procedure, two exosystems are considered to generate the disturbance and reference signals. In order to reduce both the conservatism of the control law and the chattering phenomena, a disturbance observer is designed for disturbance estimation instead of assuming the known upper bound for the disturbance. Moreover, a novel sliding surface is designed based on the tracking error to guarantee that the output of the system tracks the output of the exosystem. In this regard, some theorems are given and according to the Lyapunov approach, it is proved that the robust output regulation is guaranteed in the presence of model uncertainties and external disturbances. Finally, in order to show the applicability of the proposed controller, it is applied to the Van der Pol chaotic oscillator. Computer simulations verify the theoretical results and also show the effective performance of the proposed controller.

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