Abstract
Abstract We extend the internal model principle for boundary control system to cover robust tracking of sinusoidal reference signals with polynomial coefficients. The internal model principle is presented in the form of both the internal model structure and the (G-conditions. A controller structure will be presented and its internal model properties will be analyzed in order to solve the tracking problem in a robust manner. As an example, a robust controller is constructed for the one-dimensional heat equation with Dirichlet boundary control at one endpoint and temperature measurement at the other endpoint of the interval. The performance of the controller is demonstrated by numerical simulations.
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