Recent Advances in the Use of the Internal Model Control Structure for the Synthesis of Robust Multivariable Controllers.

Abstract

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.