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We introduce general results on well-posedness and output regulation of regular linear systems with nonautonomous controllers. We present a generalization of the internal model principle for time-dependent controllers with asymptotically converging parameters. This general result is utilized in controller design for output tracking and disturbance rejection of harmonic signals with unknown frequencies. Our controller can be flexibly combined with different frequency estimation methods. The results are illustrated in rejection of unknown harmonic disturbances for a 1-D boundary controlled heat equation.

Nonautonomous Controllers and Output Regulation of Unknown Harmonic Signals for Regular Linear Systems