You must separately request a waiver of each year's penalty using the Form 5329 for each particular year. I would send the 2011 through 2017 Forms 5329 together in the same envelope, sending them to the same address to which you would mail your 2018 tax return.
Search "5329" for the forms and instructions: https://apps.irs.gov/app/picklist/list/priorFormPublication.html
