Zero dynamics inverse design for asymptotic regulation of the heat equation: the non-colocated case

In this paper we present the results of our recent work on asymptotic regulation using zero dynamics inverse (ZDI) design for a one dimensional heat equation applied to the non-colocated case. In our previous works we have considered several different types of examples for the co-located case in which boundary control is used to track reference signals given at the same end of the rod or on the interior of the rod. In this work we show how this method can also be applied in the case of boundary control in order to achieve tracking a pair of signals prescribed at interior points of the rod.