A new structure for fault-tolerant internal model control

Internal Model Control (IMC) has been extended recently to a fault-tolerant IMC scheme (FTIMC), which ensures that the main IMC properties like stability, robustness and setpoint tracking are retained if faults occur. This paper proposes a new type of IMC controller for input-affine systems with input-saturation, which is based on a systematic analysis of the demands on the IMC filter, the construction of the filter and its subsequent extension to an IMC controller. Properties of FTIMC with the new controller are derived and demonstrated by a process engineering example.