On the sensitivity of a switched linear internal model controller

In this paper the Switched Linear Internal Model (SLIM) controller, an Internal Model based control scheme recently proposed by the authors, is qualitatively analyzed in terms of sensitivity to external disturbances. This investigation is particularly relevant to motivate further efforts toward a theoretical assessment of the considered scheme. In fact, SLIM solution is expected to have good robustness properties when compared with other Internal Model based scheme. A comparison with the well-known Repetitive Learning Control is discussed.