  This paper proposes an output feedback controller capable of ensuring
steady-state offset-free tracking for ramp and sinusoidal reference signals
while ensuring local stability and state and input constraints fulfillment. The
proposed solution is derived by jointly exploiting the internal model
principle, polyhedral robust positively invariant arguments, and the Extended
Farkas' Lemma. In particular, by considering a generic class of output feedback
controller equipped with a feedforward term, a proportional effect, and a
double integrator, we offline design the controller's gains by means of a
single bilinear optimization problem. A peculiar feature of the proposed design
is that the sets of all the admissible reference signals and the plant's
initial conditions are also offline determined. Simulation results are provided
to testify to the effectiveness of the proposed tracking controller and its
capability to deal with both state and input constraints.
