In this article, the output regulation problem is solved for singular systems by using dual observer-based compensators. This has the advantage that output regulation can be achieved under weak conditions. Namely, different from previous approaches, an implementable compensator can be directly determined in form of a classical state space model without a transformation into WeierstrassKronecker canonical form. Furthermore, the impulse controllability and observability of the singular system is not required and the output to be controlled needs not be measurable. The results of the article are demonstrated by means of a simple mechanical system.