Disturbance estimation property of IMC design with LQ control and its application

In this paper, additive effects of a control method derived by combining the internal model control and LQ control are proposed. Robust stability and disturbance estimation property for parameter perturbation are discussed from LQ control point of view. Then the proposed method is applied to disturbance estimation for a spring constant. Experimental results show that the proposed method is effective on tracking control and improving the disturbance estimation property.