Partial internal model control
Qing-Guo Wang; Qiang Bi; Yong Zhang
Industrial Electronics, IEEE Transactions on
Volume 48, Issue 5, Oct 2001 Page(s):976 - 982
Digital Object Identifier 10.1109/41.954562
Summary:Internal model control (IMC) is a well-known and effective control
scheme. However, when unstable processes are concerned, the original IMC
structure cannot be directly used for control system implementation. In
this paper, a new scheme called partial internal model control (PIMC) is
proposed, which is capable of controlling both stable and unstable
processes. In PIMC, a process model is expressed as the sum of the
stable and antistable parts and only the stable part of the process
model is used as the internal model. The process stable part is canceled
by the internal model and the remaining antistable part is stabilized
and controlled with a primary controller, which is usually a PID-type
regulator when the antistable part is of a low order. Various properties
of a PIMC system such as internal stability and robust stability are
analyzed. The design of PIMC is discussed in detail. Various simulation
examples are included for illustration and a real-time implementation on
a motor system is presented
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