Titre : Internal Model Control Revisited
– Résumé : By the Internal Model Principle, the asymptotic rejection of persistent exogenous signals with known patterns (constant, harmonic, periodic, etc) requires incorporating their models (integrator, harmonic oscillator, repetitive element, etc) into the feedback loop. A conventional design approach in this case is to augment the plant by the dynamics of the model and to design a stabilizer for the resulted augmented system. An obvious disadvantage here is an increase of dimensions, which is especially troublesome for infinite-dimensional models, like those arising in repetitive control.
In this talk an alternative approach will be presented, in which special dynamic elements are added to the loop to compensate for the addition of the internal model to stabilization. Those elements are, in a sense, dual to the celebrated dead-time compensators and are thus termed \emph{CIM elements} (compensators of internal model). With the use of CIM elements the stabilization of the augmented plant becomes equivalent to that of a plant having the same dimension and zero structure as the original plant itself.
In this talk an alternative approach will be presented, in which special dynamic elements are added to the loop to compensate for the addition of the internal model to stabilization. Those elements are, in a sense, dual to the celebrated dead-time compensators and are thus termed \emph{CIM elements} (compensators of internal model). With the use of CIM elements the stabilization of the augmented plant becomes equivalent to that of a plant having the same dimension and zero structure as the original plant itself.
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