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Starting from a very general formulation of the Internal Model Principle it is shown that a robust controller tracking/rejecting signals generated by an exosystem can be decomposed into a servocompensator and a stabilizing controller. The servocompensator contains an internal model of the exosystem generating the reference and disturbance signals and the stabilizing controller stabilizes the infinite-dimensional...
In this paper a robust regulation problem for infinite-dimensional systems with infinite-dimensional exosystems is discussed. The input and output spaces are also allowed to be infinite-dimensional. A new definition of internal model in terms of the controller parameters is given. It is shown that there exists a feedback controller containing an internal model of the exosystem, which robustly regulates...
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