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We introduce general results on well-posedness and output regulation ofregular linear systems with nonautonomous controllers. We present ageneralization of the internal model principle for time-dependent controllerswith asymptotically converging parameters. This general result is utilised incontroller design for output tracking and disturbance rejection of harmonicsignals with unknown frequencies. Our controller can be flexibly combined withdifferent frequency estimation methods. The results are illustrated inrejection of unknown harmonic disturbances for a one-dimensional boundarycontrolled heat equation.

Time-Varying Internal Models and Regulation of Unknown Harmonic Signals for Regular Linear Systems