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Controller Design for Robust Output Regulation of Regular Linear Systems

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Original languageEnglish
Pages (from-to)2974-2986
JournalIEEE Transactions on Automatic Control
Issue number10
Early online date2015
Publication statusPublished - 2016
Publication typeA1 Journal article-refereed


We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust controller and (iii) a new internal model based robust controller structure. In addition, we present two controllers that are by construction robust with respect to predefined classes of perturbations. The results are illustrated with an example where we study robust output tracking of a sinusoidal reference signal for a two-dimensional heat equation with boundary control and observation.


  • Linear systems, Robustness, Robust output regulation, controller design, feedback, regular linear systems

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