Output regulation for linear systems with sampled measurements

Shows that if output regulation with internal stability is achievable via continuous-time error feedback then the same is true using sampled error feedback, discrete-time compensation, and a generalized hold device that generates the continuous-time control signal. In this scheme, the memoryless generalized hold together with the dynamic discrete-time compensator act as a continuous-time internal model of the exosystem. The approach involves casting the hybrid sampled-data system as a continuous-time system with periodically occurring jumps. Basic geometric concepts of invariant and controlled invariant subspaces are developed for linear systems with jumps to facilitate the analysis and the construction of compensators that solve the problem