Abstract
Abstract In this paper the asymptotic tracking and disturbance rejection problem is studied for linear periodic discrete-time systems under parameter uncertainties, and for general classes of disturbance functions and reference signals, consisting in free responses of periodic processes. The necessary and sufficient conditions for the existence of a solution, which involve the periodic notion of invariant zero, are found, assuming that some measurements are available in addition to the controlled outputs. A constructive design procedure of the periodic compensator is contained in the sufficiency proof
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