Low order solutions to the perfect regulation problem with bounded peaking

The perfect regulation problem with bounded peaking refers to the design of controllers which can regulate the output of a system arbitrarily fast while maintaining boundedness. In this paper, we construct controllers of low dynamic order which solve this problem for multivariable linear time-invariant systems. In particular, we provide lower bounds on the dynamic order. The result is a one parameter family of controllers whose structure only varies according to the orders of infinite zeros of the system. An example is given to illustrate the advantages of the approach.