  In this paper we study robust output tracking and disturbance rejection of
linear partial differential equation (PDE) models. We focus on demonstrating
how the abstract internal model based controller design methods developed for
"regular linear systems" can be utilised in controller design for concrete PDE
systems. We show that when implemented for PDE systems, the abstract control
design methods lead in a natural way to controllers with "PDE parts". Moreover,
we formulate the controller construction in a way which utilises minimal
knowledge of the abstract system representation and is instead solely based on
natural properties of the original PDE. We also discuss computation and
approximation of the controller parameters, and illustrate the results with an
example on control design for a boundary controlled diffusion equation.
