期刊名称：International Journal of Advanced Computer Science and Applications(IJACSA)
印刷版ISSN：2158-107X
电子版ISSN：2156-5570
出版年度：2016
卷号：7
期号：12
DOI：10.14569/IJACSA.2016.071219
出版社：Science and Information Society (SAI)
摘要：This paper presents an Internal Model Control (IMC) structure designed for a class of continuous linear underactuated systems. The study treats the case of Minimum Phase (MP) systems and those whose zero dynamics are not necessarily stable. The proposed IMC structure is based on a specific controller which is obtained by the realization of an approximate inverse of the model plant. It is shown that, using such IMC structure, it is possible to remedy the problem of system underactuation and Non-Minimum Phase (NMP) behavior. The case of non-zero initial conditions and imperfect modeling are also presented and model parameters effects on the system evolution are discussed. Simulated examples are presented to prove the effectiveness of the proposed control method to ensure set-point tracking, stability and disturbance rejection.
关键词：thesai; IJACSA Volume 7 Issue 12; Internal Model Control; continuous linear underactuated systems; specific controller; minimum phase systems; non-minimum phase behavior; non-zero initial conditions; model parameters effects; set-point tracking; stability; disturbance rejection
