  This paper solves the robust hybrid output regulation problem for arbitrary
uncertain hybrid MIMO linear systems with periodic jumps without the
restrictive assumptions used in all previous works on the subject. A necessary
condition for solving the problem is that the regulator must incorporate an
internal model of the flow zero-dynamics, which is typically affected by
uncertainties and then unknown. Hence, the proposed regulator consists of three
units: a data-driven estimator of the dynamics that are invisible from the
regulated output during flows, a flow internal model in charge of achieving
regulation during flows, and a jump internal model in charge of imposing a
suitable reset of the state at each jump.
