Output regulation of a class of bilinear systems under constant disturbances

The problem of regulating the output of a linear process subject to parametric control, additive control, and additive unknown constant disturbances is considered. The controllability and observability theory for this kind of system is utilized to obtain a stabilizable linear periodic system with piecewise constant coefficients. The internal model principle is then applied to solve the classical output regulation problem for this system. Constructive synthesis procedures for the controller are supplied by the proofs of the obtained results.