Robust output regulation of the linearized Boussinesq equations with boundary control and observation

Abstract We study a temperature and velocity output tracking problem for two-dimensional room model with the fluid dynamics governed by linearized translated Boussinesq equations. Additionally, includes finite-dimensional models actuation sensing dynamics; thus, complete are an ODE–PDE–ODE cascade. As main contribution, we design low-dimensional internal model-based controller robust of model. The controller’s performance is demonstrated through numerical example.