In this paper, a novel robust output regulation control framework is proposed
for the system subject to noise, modeled disturbance and unmodeled disturbance
to seek tracking performance and robustness simultaneously. The output
regulation scheme is utilized in the framework to track the reference in the
presence of modeled disturbance, and the effect of unmodeled disturbance is
reduced by an H∞​ compensator. The Kalman filter can be also
introduced in the stabilization loop to deal with the white noise. Furthermore,
the tracking error in the presence/absence of noise and disturbance is
estimated. The effectiveness and performance of our proposed control framework
is verified in the numerical example by applying in the Furuta Inverted
Pendulum system