Necessary and sufficient conditions for output regulation in a class of hybrid linear systems

In this paper, the problem of output regulation for a class of hybrid linear systems is considered. Necessary and sufficient conditions for its solution are provided, both in the full information and error feedback case, under the additional constraint that the regulator is a hybrid linear time invariant system from the same class. A stronger version of the internal model principle is also shown, requiring that the regulator must contain a copy of the zero dynamics of the plant in addition to the usual copy of the exosystem dynamics