Internal model control. 2. Design procedure for multivariable systems

In this paper, the long-standing problem of designing disturbance observers for multi-input multi-output (MIMO) systems is solved. The disturbance observer presented here has a simple structure equivalent to that of the internal model control (IMC), thereby there is no need for the system inversion. Techniques to design the proposed disturbance observer are given. Furthermore, the design procedure is illustrated via examples for different MIMO systems.

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Internal Model Control for Singular Multivariable Systems Based on Kronecker Canonical Form

Proceedings of the 2015 International Conference on Environmental Engineering and Remote Sensing ◽

10.2991/eers-15.2015.34 ◽

2015 ◽

Author(s):

Qibing Jin ◽

Qi Wang ◽

Beiyan Jiang, ◽

Meiying Jiang ◽

Yan Huang

Keyword(s):

Canonical Form ◽

Internal Model ◽

Internal Model Control ◽

Multivariable Systems ◽

Model Control ◽

Kronecker Canonical Form

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Design of Disturbance Observers for Multi-Input Multi-Output Systems

Volume 9: Mechanical Systems and Control, Parts A, B, and C ◽

10.1115/imece2007-43117 ◽

2007 ◽

Author(s):

Shahram M. Shahruz ◽

Jingang Yi

Keyword(s):

Internal Model ◽

Disturbance Observer ◽

Simple Structure ◽

Mimo Systems ◽

Design Procedure ◽

Internal Model Control ◽

Model Control ◽

System Inversion ◽

Inversion Techniques ◽

Standing Problem

In this paper, the long-standing problem of designing disturbance observers for multi-input multi-output (MIMO) systems is solved. The disturbance observer presented here has a simple structure equivalent to that of the internal model control (IMC), thereby there is no need for the system inversion. Techniques to design the proposed disturbance observer are given. Furthermore, the design procedure is illustrated via examples for different MIMO systems.

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U-Model-Based Two-Degree-of-Freedom Internal Model Control of Nonlinear Dynamic Systems

Entropy ◽

10.3390/e23020169 ◽

2021 ◽

Vol 23 (2) ◽

pp. 169

Author(s):

Ruobing Li ◽

Quanmin Zhu ◽

Pritesh Narayan ◽

Alex Yue ◽

Yufeng Yao ◽

...

Keyword(s):

Nonlinear Dynamic ◽

Internal Model ◽

Design Procedure ◽

Industrial Applications ◽

Internal Model Control ◽

Degree Of Freedom ◽

Model Based ◽

Model Control ◽

Nonlinear Plants ◽

Two Degree Of Freedom

This paper proposes a U-Model-Based Two-Degree-of-Freedom Internal Model Control (UTDF-IMC) structure with strength in nonlinear dynamic inversion, and separation of tracking design and robustness design. This approach can effectively accommodate modeling error and disturbance while removing those widely used linearization techniques for nonlinear plants/processes. To assure the expansion and applications, it analyses the key properties associated with the UTDF-IMC. For initial benchmark testing, computational experiments are conducted using MATLAB/Simulink for two mismatched linear and nonlinear plants. Further tests consider an industrial system, in which the IMC of a Permanent Magnet Synchronous Motor (PMSM) is simulated to demonstrate the effectiveness of the design procedure for potential industrial applications.

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