Vilanova R, Arrieta O, Ponsa P
Departament de Telecomunicació i d'Enginyeria de Sistemes, Escola Tècnica Superior d'Enginyeria, ETSE, Universitat Autònoma de Barcelona, Bellaterra, Barcelona, Spain.
ISA Trans. 2009 Oct;48(4):439-48. doi: 10.1016/j.isatra.2009.05.007. Epub 2009 Jul 25.
This paper presents a generalization of the Internal Model Control (IMC) approach to feedforward control action generation. As is well known, one of the distinctive features of the IMC formulation is the possibility to distinguish between the nominal and uncertain situations. However the consideration of the presence of uncertainty for the feedforward part of the controller is not as simple as that for the feedback one. In this sense, what is proposed in this paper provides a more systematic way of addressing a robust feedforward design. In addition, being one of the major drawbacks of the Internal Model Control to have to deal with stable systems, the generalization presented here allows for unstable plants as well as unstable disturbance models.
本文提出了一种将内模控制（IMC）方法推广到前馈控制动作生成的方法。众所周知，IMC公式的一个显著特点是能够区分标称情况和不确定情况。然而，考虑控制器前馈部分存在不确定性的情况并不像反馈部分那样简单。从这个意义上说，本文提出的方法提供了一种更系统的方法来解决鲁棒前馈设计问题。此外，内模控制的一个主要缺点是必须处理稳定系统，而这里提出的推广允许使用不稳定的对象以及不稳定的干扰模型。
