  In this paper we propose a new design paradigm, which employing a
postprocessing internal model unit, to approach the problem of output
regulation for a class of multivariable minimum-phase nonlinear systems
possessing a partial normal form. Contrary to previous approaches, the proposed
regulator handles control inputs of dimension larger than the number of
regulated variables, provided that a controllability assumption holds, and can
employ additional measurements that need not to vanish at the ideal
error-zeroing steady state, but that can be useful for stabilization purposes
or to fulfil the minimum-phase requirement. Conditions for practical and
asymptotic output regulation are given, underlying how in postprocessing
schemes the design of internal models is necessarily intertwined with that of
the stabilizer.
