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Error based output regulation for a 1-d wave equation with a tip mass and non-collocated disturbance

In this paper, we are concerned with the output regulation for a one-dimensional wave equation with a tip mass and boundary disturbances. By a novel trajectory planning, an unknown input type observer is designed, although one of the disturbances is non-collocated to the controller. An observer based output feedback law is proposed in terms of regulation error only. The stability of the closed-loop system is proved mathematically and is validated by some numerical simulations.