This paper investigates the output regulation problem for a class of hyperbolic partial differential equa-tion(PDE)systems with boundary actuator dynamics.Particularly,the control input appears at one end of the ac-tuator described by a set of ordinary differential equation(ODE)rather than directly in the PDE system,which makes the control task rather difficult.Based on the geometric design method as well as finite and infinite dimen-sional backstepping methods,an output regulator is explicitly provided in the paper so that the disturbance com-pensation and tracking control of this system are implemented.Moreover,we rigorously prove the exponential sta-bility of both the closed-loop system and the tracking error in the norm by employing the Lyapunov stability the-ory.The simulation example comparatively demonstrates the effectiveness of the proposed control method.
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