Output regulation, tracking and nominal decoupling with stability for uncertain linear periodic systems

In this paper uncertain linear periodic discrete-time systems are considere d for obtaining the row-by-row reference-output decoupling with stability a t nominal parameters, together with asymptotic tracking and output regulati on in a neighbourhood of the nominal parameters, for classes of exponential -polynomial reference signals and exponential disturbance functions. By usi ng the periodic version of the internal model principle, the necessary and sufficient conditions far the existence of a solution are given, and a desi gn procedure for the dynamic compensator is proposed.