Further Results on Adaptive Robust Periodic Regulation

In this paper, we extend previous results for the linear output regulation problem with parameter-dependent periodic exosystems to higher relative degree minimum-phase plant models. By means of a dynamic extension and a global change of coordinates, the original system can be put in an error system such that an adaptive periodic internal model approach can be adopted. Moreover, the overall system can be put in a suitable form for which robust backstepping design is applicable. Persistence of excitation is not required for the applicability of the method. Simulation results illustrate the proposed methodology.