Robust and optimal control
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The problems about guaranteeing robustness of decoupling control of induction motor and shortage of conventional robust control approaches in considering nominal and robustness performance synchronously are introduced. In order to solve these problems, principle and structure of generalized internal model control (GIMC) based two-degree-offreedom (2DOF) is studied, the design methods of robust control compensator and nominal controller of the proposed method are investigated respectively. The proposed design is applied to design controllers for the nonlinear differential geometry based decoupling linear subsystems of induction motor, simulation results demonstrated that the proposed method has high robust performance to the influence of model uncertainty and external disturbance, and it can improved decoupling performance effectively.