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    Internal Model Control: Robust Digital Controller Synthesis for Multivariable Open-Loop Stable or Unstable Processes

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    TR_90-48.pdf (1.645Mb)
    No. of downloads: 745

    Date
    1990
    Author
    Zafiriou, E.
    Morari, M.
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    Abstract
    The two-step Internal Model Control (IMC) procedure is presented for the synthesis of multivariable discrete controllers. This paper adds the following features to the IMC design methodology: (i) Extension to open-loop unstable plants. (ii) Design of the first-step (no model error) IMC controller so that the L2-error (sum of squared errors) is minimized for every setpoint or disturbance vector in a designer-specified set and their linear combinations. (iii) The second-step (model-plant mismatch) multivariable low-pass filter is designed for robust stability and performance by minimizing a non-conservative robustness measure, the Structured Singular Value. (iv) The potential problem in intersample rippling is avoided by introducing a modification in the first-step controller and formulating the robust performance objective for the continuous plant output.
    URI
    http://hdl.handle.net/1903/4996
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    • Institute for Systems Research Technical Reports

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