IMC controllers for uncertain multivariable over-actuated systems

This paper deals determine the relative robust stability of the multivariable over-actuated system with parametric uncertainty using Kharitonov theorem and Routh stability criterion. The robust internal model controller (IMC) is used for relative robust stability analysis of the two outputs MIMO systems and the effect of controllers on time region performance specifications such as steady state error, rise time, precision and overshoot is also studied. Simulation results are satisfactory of an applicant IMC confirm the robustness, reliability of the proposed design approach and has good tracking characteristics.