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Reduced order internal models in robust output regulation

Research output: Contribution to journalArticleScientificpeer-review


Original languageEnglish
Pages (from-to)2307-2318
Number of pages12
JournalIEEE Transactions on Automatic Control
Issue number9
Publication statusPublished - 2013
Publication typeA1 Journal article-refereed


In this paper we consider robust output regulation and the internal model principle for infinite-dimensional linear systems. We concentrate on a problem where the control law is required to be robust with respect to a restricted class of perturbations. We show that depending on the class of admissible perturbations, it is often possible to construct a robust controller with a smaller internal model than the one given by the internal model principle. In addition, we also look for minimal classes of perturbations that make the full internal model necessary. We introduce a straightforward way of testing for robustness of the control law for a given set of perturbations. The test in particular shows that the robustness is only dependent on the way the perturbations affect the transfer function of the plant at the frequencies of the exosystem. The theoretic results are applied to designing controllers for a one-dimensional wave equation and for a system consisting of three independent shock absorber models.

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