Stability robustness and practical implementation of an internal model control structure

The estimate of a stability robustness measure with respect to parameter va riations or modelling errors for a class of single input, single output, no nlinear systems controlled with an internal model controller (IMC) is prese nted. The estimate of robustness is evaluated in a straight forward manner. A practical implementation of the IMC is also presented, it is based an a personal computer with an interface card designed and built in house. The e xperiments with the IMC implementation show, the feasibility and performanc e of this structure in practical control problems.