IMC Filter Design for Frequency Control in Overactuated Systems

In this paper, an internal model control with insertion of a filter is proposed for overactuated systems. Indeed, the filter is necessary to avoid performance degradation in the case of modeling errors, disturbances affecting the system, and especially when the system inputs are sinusoidal. The choice of robustness filter parameters is presented and discussed in this paper. In fact, the filter can slow the fast dynamics. When choosing a time constant of the filter very small, it can increase the bandwidth of the controlled system. The IMC structure with filter is applied for a multivariable over-actuated system, the simulation results show the effectiveness of the proposed IMC filter design.