Model free adaptive robust control based on GIMC structure for nonlinear discrete-time system

In this paper, a novel model free adaptive robust control (MFARC) algorithm is proposed to adaptive and robust control for a class of complex and uncertain nonlinear systems, which are considered to have random noise and disturbances in the input and output data. It is shown that general inner model control (GIMC) structure can be used to overcome the trade-off that performance and robustness of controller are both taking into account. Meanwhile, model free adaptive control is employed to guarantee the performance of nominal controller with disturbance or uncertainty, where the detailed analytical models are difficult to obtain. The unique feature of this paper is that we explicitly combine data driven control technique and GIMC structure to design controller directly to omit the drawback of model linearization with dynamical uncertainties and disturbances. Simulation results show the effectiveness and applicability of the proposed control law.