Given a family of linear systems depending on a parameter varying in a differentiable manifold, we obtain sufficient conditions for the existence of a (global or local) differentiable family of controllers solving the output regulation problem for the given family. Moreover, we construct it when these conditions hold.
Compta, A.; Ferrer, J.; Peña, M. Output regulation problem for differentiable families of linear systems. "Mathematical problems in engineering", 2010, vol. 2010, núm. ID 698548, p. 1-9.