M. Delasen et I. Sagastabeitia, COMPENSATION OF UNCERTAIN CONTINUOUS SYSTEMS BY USING THE INTERNAL MODEL CONTROL PRINCIPLE, International Journal of Systems Science, 26(5), 1995, pp. 1153-1180
Citations number
10
Categorie Soggetti
System Science","Computer Science Theory & Methods","Operatione Research & Management Science
In this paper the design of compensators for uncertain continuous plan
ts is investigated. The standard derived compensators are based on the
application of the internal model control (IMC) method. The required
a priori knowledge on the plant is rather weak, namely, an upper bound
of the plant relative order, the numbers of the strictly unstable and
critically unstable plant poles being integrators and upper and lower
bounds of the amplitude-versus-frequency plot over the low frequency
band in the case of minimum-phase open-loop systems. If the open-loop
system has unstable zeros and/or poles then the above bounds are requi
red to be known for a modified magnitude plot which substitutes the un
stable zeros (poles) by stable poles (zeros) which are their complex-c
onjugate reflections on the left-hand plane. An absolute upper bound o
f the open-loop phase plot is obtained on a finite frequency interval
which allows the closed-loop system to guarantee a prescribed relative
stability in many practical situations. The method is dependent on th
e alternative design of phase lead/lag classical compensators and to i
ndirect adaptive control situations where the adaptive identifier is u
sed for the parametrization of the adaptive controller.