Abstract
The problem of output regulation for MIMO systems with harmonic exogenous inputs and parameter uncertainties is addressed. The issue of robust stability is handled, taking full advantage of all controls and all available measurements, by appealing to a general notion of “robust” minimum-phase. The classical internal model principle together with adaptive tuning loop is used to design the controller such that guarantees the asymptotic convergence of outputs to equilibrium point. An example of vessel control is given to illustrate the new approach.
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