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This letter solves the robust hybrid output regulation problem for uncertain hybrid MIMO linear systems with periodic jumps without assuming any a priori structural decomposition on the considered plant (as in the semi-classical case). A necessary condition for solving the problem is that the regulator must incorporate an internal model of the flow zero-dynamics, which is typically affected by uncertainties and then unknown. Hence, the proposed regulator consists of three units: a data-driven estimator of the flow zero-dynamics, a flow internal model in charge of achieving regulation during flows, including also the (estimated) modes of the uncertain flow zero-dynamics, and a jump internal model in charge of imposing a suitable reset of the state at each jump.

Robust Hybrid Output Regulation for Linear Systems With Periodic Jumps: The Non-Semiclassical Case