Robust control of a general servomechanism problem: The servo compensator
Automatica (Journal of IFAC)
Brief paper: Dual-mode structure digital repetitive control
Automatica (Journal of IFAC)
Practical output regulation for bounded linear infinite-dimensional state space systems
Automatica (Journal of IFAC)
Technical communique: A repetitive controller for discrete-time passive systems
Automatica (Journal of IFAC)
Performance limitations in reference tracking and path following for nonlinear systems
Automatica (Journal of IFAC)
Brief paper: Robust high-order repetitive control: Optimal performance trade-offs
Automatica (Journal of IFAC)
Neural network control of sailboat dynamics: hardware real time implementation experience
ISC '07 Proceedings of the 10th IASTED International Conference on Intelligent Systems and Control
Repetitive control with Prandtl-Ishlinskii hysteresis inverse for piezo-based nanopositioning
ACC'09 Proceedings of the 2009 conference on American Control Conference
An analysis and synthesis of internal model principle type controllers
ACC'09 Proceedings of the 2009 conference on American Control Conference
Idle mode control on a combustion engine test bench via internal model control
ACC'09 Proceedings of the 2009 conference on American Control Conference
Adaptive rejection of stochastic and deterministic sinusoidal disturbances with unknown frequency
ACC'09 Proceedings of the 2009 conference on American Control Conference
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Control design for harmonic disturbance rejection for robot manipulators with bounded inputs
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
Disturbance observer based repetitive controller for time-delay systems
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
Avoiding saturation-to-zero of heaters in temperature regulators
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
On a Stabilization Problem of Nonlinear Programming Neural Networks
Neural Processing Letters
Brief paper: Offset-free reference tracking with model predictive control
Automatica (Journal of IFAC)
A direct approach for the frequency-adaptive feedforward cancellation of harmonic disturbances
IEEE Transactions on Signal Processing
Sliding mode control: A survey with applications in math
Mathematics and Computers in Simulation
Internal Model Theory for Distributed Parameter Systems
SIAM Journal on Control and Optimization
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Suppression of bounded exogenous disturbances: A linear dynamic output controller
Automation and Remote Control
Global practical output tracking of uncertain nonlinear systems by smooth output feedback
ACMOS'07 Proceedings of the 9th WSEAS international conference on Automatic control, modelling and simulation
ICAI'05/MCBC'05/AMTA'05/MCBE'05 Proceedings of the 6th WSEAS international conference on Automation & information, and 6th WSEAS international conference on mathematics and computers in biology and chemistry, and 6th WSEAS international conference on acoustics and music: theory and applications, and 6th WSEAS international conference on Mathematics and computers in business and economics
Rejection of harmonic disturbances at the controller input via hybrid adaptive external models
Automatica (Journal of IFAC)
Robust Regulation of Distributed Parameter Systems with Infinite-Dimensional Exosystems
SIAM Journal on Control and Optimization
Efficient model predictive algorithms for tracking of periodic signals
Journal of Control Science and Engineering - Special issue on Model Predictive Control
Paper: Geometric state-space theory in linear multivariable control: A status report
Automatica (Journal of IFAC)
Paper: A perspective on convergence of adaptive control algorithms
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Brief Paper: Robustness and Trade-offs in Repetitive Control
Automatica (Journal of IFAC)
Technical Communique: Dynamic transfer between sliding control and internal model control
Automatica (Journal of IFAC)
Autonomous vertical landing on an oscillating platform: an internal-model based approach
Automatica (Journal of IFAC)
Neural network enhanced output regulation in nonlinear systems
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Robust output regulation with nonlinear exosystems
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Periodic disturbance cancellation with uncertain frequency
Automatica (Journal of IFAC)
Zero dynamics modeling and boundary feedback design for parabolic systems
Mathematical and Computer Modelling: An International Journal
Nonlinear offset-free model predictive control
Automatica (Journal of IFAC)
Adaptive steering control for uncertain ship dynamics and stability analysis
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Repetitive control of servo systems with time delays
Robotics and Autonomous Systems
Hi-index | 22.21 |
Abstract: The classical regulator problem is posed in the context of linear, time-invariant, finite-dimensional systems with deterministic disturbance and reference signals. Control action is generated by a compensator which is required to provide closed loop stability and output regulation in the face of small variations in certain system parameters. It is shown, using the geometric approach, that such a structurally stable synthesis must utilize feedback of the regulated variable, and incorporate in the feedback path a suitably reduplicated model of the dynamic structure of the disturbance and reference signals. The necessity of this control structure constitutes the Internal Model Principle. It is shown that, in the frequency domain, the purpose of the internal model is to supply closed loop transmission zeros which cancel the unstable poles of the disturbance and reference signals. Finally, the Internal Model Principle is extended to weakly nonlinear systems subjected to step disturbances and reference signals.