A heuristic control algorithm for robust internal model control with arbitrary reference model

Abstract

In this chapter the problem of Robust Internal Model Control is considered for the case of linear plants with nonlinear uncertain structure. The reference command is produced by an arbitrary reference model. A finite step Heuristic Algorithm is proposed in order to derive the controller parameters that guarantee robust performance under the proposed solvability conditions. The proposed controller is successfully applied to a hydraulic actuator uncertain model including uncertain parameters arising from changes of the operating conditions and other physical reasons. The satisfactory performance of hydraulic actuator variables for all the expected range of the actuator model uncertainties and external disturbances is illustrated via simulation experiments.