Output regulation for sampled-data systems with application to marine systems

In this paper the output regulation problem for sampled-data systems with time-varying measurement matrices and constant exogenous signals is considered. Under the assumption that the regulator equation in the continuous-time case has a solution, a discrete-time output feedback controller is designed which fulfills output regulation. As an application, berthing control of a ship is discussed and simulation results are given to show the effectiveness of the controller.