# Introduction to "RORPack": A Python Software Library for Robust Output Regulation

## TL;DR

RORPack is an open-source Python library that facilitates robust output regulation for linear PDE systems, including controller design, simulation, and visualization, with practical examples on heat and wave equations.

## Contribution

This paper introduces RORPack, a comprehensive software library that automates controller design and simulation for robust output regulation of PDE systems.

## Key findings

- Provides automated controller construction for PDEs
- Includes simulation and visualization tools
- Offers example cases on heat and wave equations

## Abstract

This document contains the mathematical introduction to RORPack - a Python software library for robust output tracking and disturbance rejection for linear PDE systems. The RORPack library is open-source and freely available at https://github.com/lassipau/rorpack/ The package contains functionality for automated construction of robust internal model based controllers, simulation of the controlled systems, visualisation of the results, as well as a collection of example cases on robust output regulation of controlled heat and wave equations.