A nonlinear internal model controller for affine nonlinear discrete-time systems

In this paper, we provide a systematic design procedure for the construction of the controller of the affine nonlinear discrete-time studied systems. The proposed controller structure achieves the tracking of given reference trajectory even in the presence of external disturbances. It is based on the Internal Model control structure and the multimodel strategy when considering the fusion techniques. Simulation results involving a highly nonlinear discrete time system are given to show the effectiveness of the proposed controller.