Generalized internal model architecture for gain-scheduled control

Xie, Wei; Eisaka, Toshio

doi:10.1093/imamci/dnn008

Cited by 6 publications

(6 citation statements)

References 10 publications

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“…In (34), ( ) is the low pass filter; the purpose of adding a filter into the controller is to guarantee the stability and robustness of the system. The principle of choosing ( ) is making IMC ( ) rational; that is, IMC ( ) can be realized through the decomposition of (32) and filter choice of (34).…”

Section: The Design Procedures Ofmentioning

confidence: 99%

“…Correspondingly, the control method for LPV system can also be applied to quasi-LPV system. IMC design for LPV system can be found in the literature in [33,34]. IMC in the literature in [33] is a one degree of freedom IMC which is designed to do compromise between the performance and robustness.…”

Section: Introductionmentioning

confidence: 99%

“…IMC in the literature in [33] is a one degree of freedom IMC which is designed to do compromise between the performance and robustness. Practically, we can use two degrees of freedom IMC as shown in this paper and the literature in [34]. In two degrees of freedom IMC, feedforward IMC only needs to consider tracking performance and feedback filter only needs to consider robustness and disturbance rejection performance.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, the literature in [33] eliminates the need to adjust IMC filter but at the same time increases the need to choose design weights. In the literature in [34], the author uses the generalized IMC (GIMC) based on LMI to control LPV system. The feedback controller in GIMC controller is equivalent to feedforward controller in IMC, and the conditional controller in GIMC is equivalent to feedback filter part in two degrees of freedom IMC.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, it is not necessary to use LMI to adjust the filter parameter. In addition, the author of the literature in [34] points out that LPV system cannot be used to treat transfer functions, but it can be seen from the proof of Lemma 1 that the state matrices of LPV system can do matrix addition, multiplication, and inverse operations. Therefore, the concept of the transfer function in linear system can be generalized to LPV system and further generalized to quasi-LPV system.…”

Section: Introductionmentioning

confidence: 99%

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Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control

Zhao

2015

Mathematical Problems in Engineering

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Internal model control (IMC) design method based on quasi-LPV (Linear Parameter Varying) system is proposed. In this method, the nonlinear model is firstly transformed to the linear model based on quasi-LPV method; then, the quadrotor nonlinear motion function is transformed to transfer function matrix based on the transformation model from the state space to the transfer function; further, IMC is designed to control the controlled object represented by transfer function matrix and realize quadrotor trajectory tracking. The performance of the controller proposed in this paper is tested by tracking for three reference trajectories with drastic changes. The simulation results indicate that the control method proposed in this paper has stronger robustness to parameters uncertainty and disturbance rejection performance.

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Section: The Design Procedures Ofmentioning

confidence: 99%