Optimal Steady-State Regulation Using an Internal Model and State Feedback

This paper considers the optimal steady-state regulation (OSSR) problem, in which an internal model and a state feedback operate in tandem to solve an output regulation problem while also minimizing the steady-state work of the internal model. We present an adaptive control architecture to solve the problem in the case when the state feedback cannot fully offload the work of the internal model in steady-state, thus extending prior work. Correctness of the design is proved using two timescale averaging analysis.