This book provides a comprehensive treatment of the nonlinear output regulation problem. It contains up-to-date research results and algorithms and tools for approaching and solving this and other related problems. Output regulation is a general mathematical formulation of many control problems encountered in daily life, including cruise control of automobiles, landing and takeoff of aircraft, manipulation of robot arms, orbiting of satellites, and speed regulation of motors. In addition to the previously obtained results on the output regulation problem is the newly developed general framework that converts the robust output regulation problem for a given nonlinear system into a robust stabilization problem for an augmented system. This general framework is based on the construction of nonlinear internal models and offers greater flexibility to incorporate recent new stabilization techniques, thus setting the stage for systematically tackling robust output regulation with global stability.