| Abstract: |
| In this paper, we present output regulator problem for an impedance passive linear plant, using the classical resonant internal model based controller. The reference and disturbance signals are assumed to be linear combinations of sine waves of known frequencies. We prove that (under suitable mild assumptions, but without any stability assumptions for the plant) this controller leads to a strongly stable closed-loop system and it solves the output regulator problem if the concept of ``the error converges to zero`` is defined in a suitable way: low-pass filtering the error with any low-pass filter gives a continuous signal that tends to zero. We give two examples (both models of engineering systems) to illustrate the results. |
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