Title: Robust Regulation of Infinite-Dimensional Port-Hamiltonian Systems,
Abstract: We will give general sufficient conditions under which a controller achieves
robust regulation for a boundary control and observation system. Utilizing
these conditions we construct a minimal order robust controller for an
arbitrary order impedance passive linear port-Hamiltonian system. The
theoretical results are illustrated with a numerical example where we implement
a controller for a one-dimensional Euler-Bernoulli beam with boundary controls
and boundary observations.