This paper presents a gain-scheduled controller composed of a number of positive real controllers that contain internal models of reference command signals. Using the internal model principle as inspiration, and the Passivity Theorem to assure input-output closed-loop stability, the proposed controller is designed to realize tracking while maintaining input-output stability of the closed-loop system. The gain-scheduled nature of the internal models allows for a number of internal models to be simultaneously implemented. In particular, by expressing a periodic reference command as a Fourier series, the first few Fourier modes can be included as internal models in the controllers to be gain-scheduled, which reduces steady-state tracking error. An example involving tracking the outlet temperature of a heat exchanger is presented, where the first nine Fourier modes of the reference signal are used as internal models to reduce tracking error.

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