  Immersion and Invariance is a technique for the design of stabilizing and
adaptive controllers and state observers for nonlinear systems. In all these
applications the problem considered is the stabilization of equilibrium points.
Motivated by some modern applications we show that the technique can also be
used to solve the problem of orbital stabilization, where the final objective
is to generate periodic solutions that are attractive. The feasibility of our
result is illustrated with some classical mechanical engineering and
electronics examples.
