LAUSR

This article studies robust output tracking and disturbance rejection for boundary-controlled infinite-dimensional Port–Hamiltonian systems including second-order models such as the Euler–Bernoulli beam equation. The control design is achieved using the internal model principle and the stability analysis using a Lyapunov approach. Contrary to existing works on the same topic, no assumption is made on the external well-posedness of the considered class of PDEs. The results are applied to robust tracking of a piezo actuated tube used in atomic force imaging.