Filters for internal model control design for unstable plants

Author

Campi, Marco ; Lee, Wee Sit ; Anderson, Brian D O

Author_Institution

Dipartimento di Elettronica e d´´Inf., Politecnico di Milano, Italy

fYear

1993

fDate

15-17 Dec 1993

Firstpage

1343

Abstract

In this paper we study the design of a two-degree of freedom filter for the internal model control (IMC) method. The new filter alleviates some disadvantages of the standard IMC filter when the IMC method is applied to unstable plants that do not have nonminimum-phase zeros. We show that by employing the new filter, the resulting system has a flatter frequency response and little overshoot in the step response. Furthermore one of the filter´s design parameters can be related directly to the closed-loop bandwidth and the other design parameter can be used to control the recovery time of the step response, after an overshoot has occurred. These features are important when the IMC method is employed in a new approach to adaptive robust control. Examples are given in the paper to illustrate the new filter design

Keywords

closed loop systems; control system synthesis; filtering and prediction theory; frequency response; linear systems; model reference adaptive control systems; poles and zeros; step response; adaptive robust control; closed-loop bandwidth; filter poles; frequency response; internal model control design; linear time invariant systems; overshoot; step response; two-degree of freedom filter; unstable plants; Adaptive control; Adaptive systems; Bandwidth; Control design; Control systems; Filters; Frequency response; Programmable control; Robust control; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-1298-8

Type

conf

DOI

10.1109/CDC.1993.325405

Filename

325405