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This paper proposes a model-free control-design methodology for IMC (Internal-Model-Controller) schemes. The idea is based on the virtual reference approach and it guarantees good performance in the regulation of processes characterized by either strong dead-time phenomena or high relative degrees in the discrete-time domain. The proposed technique is tested on a critical vehicle dynamics example, where it is also compared with the classical VRFT approach. Effectiveness of the methodology is illustrated also in case of small errors in the delay estimate.
Decision and Control (CDC), 2010 49th IEEE Conference on
Date of Conference: 15-17 Dec. 2010