Robust implementable output regulator design approaches are studied for linear continuous-time systems with periodically sampled measurements, consisting of both the regulation errors and extra measurements that are generally non-vanishing in steady state. A digital regulator is first developed via the conventional emulation-based approach, rendering the regulation errors asymptotically bounded with a small sampling period. We then develop a hybrid design framework by incorporating a generalized hold device, which transforms the original problem into the problem of designing an output feedback controller fulfilling two conditions for a discrete-time system, given any (large) non-pathological sampling period. In our hybrid design framework, we show that such a controller can always be obtained by designing a discrete-time internal model, a discrete-time washout filter, and a discrete-time output feedback stabilizer. As a result, the regulation errors are shown to be globally exponentially convergent to zero. This design framework is further developed for a multi-rate digital regulator with a large sampling period of the measurements and a small control execution period.

针对具有周期性采样测量的线性连续时间系统研究了稳健的可实施输出调节器设计方法，包括调节误差和通常在稳态下不消失的额外测量。数字调节器首先是通过传统的基于仿真的方法开发的，它使调节误差在较小的采样周期内渐近。然后，我们通过合并一个广义保持设备开发了一个混合设计框架，它将原始问题转换为设计一个输出反馈控制器的问题，该控制器满足离散时间系统的两个条件，给定任何（大）非病理采样周期。在我们的混合设计框架中，我们展示了这样一个控制器总是可以通过设计一个离散时间内部模型来获得，离散时间冲洗滤波器和离散时间输出反馈稳定器。结果，调节误差显示为全局指数收敛到零。该设计框架针对具有大测量采样周期和小控制执行周期的多速率数字调节器进行了进一步开发。