A direct design from input/output data of the youla parameter for compensating plant perturbation on GIMC structure

Generalized internal model control (GIMC) structure resolve the problem of trade-off between nominal control performance and robustness. GIMC structure proposed by Zhou consists of a conditional feedback structure and an outer-loop controller. A conditional feedback structure included in GIMC constructs a robust control system easily, while an outer-loop controller specifies nominal control performance. This paper proposes the design method of the Youla parameter on GIMC by using the input/output data of the dual Youla parameter without identification of the Youla parameter. The effectiveness of the proposed design method is verified experimentally in a belt-driven two-mass system.