Recent Advances in the Use of the Internal Model Control Structure for the Synthesis of Robust Multivariable Controllers.
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This paper presents the following recent theoretical developments in the IMC methodology: DOT Multivariable controller design for the minimization of the Integral Squared error (ISE) for every input direction in a set and their linear combinations. DOT Treatment of open-loop unstable plants; use of the two-degree-of- freedom controller. DOT Minimization of the Structured Singular Value (SSV) for robust performance over the IMC Filter parameters; unconstrained problem; analytic computation of the gradients. DOT Computation of the worst (over all possible plants) ISE for a particular setpoint or disturbance input. The paper deals with continuous systems. Extension to sampled-data systems is straight forward but not included here for lack of space.