Adaptive output regulation of MIMO LTI systems with unmodeled input dynamics

This paper addresses the problem of adaptive output regulation of a minimum-phase MIMO LTI system in the presence of un-modeled (fast) input dynamics. The adoption of a post-processing tunable internal model makes it possible to implement standard methods for the analysis of two-time-scale systems. The proposed adaptation law guarantees, under suitable hypotheses, convergence to zero of the regulation error as well as of the parameter estimation error.