Internal Model Control: Application to a class of linear underactuated systems with two degrees of underactuation

摘要

This paper deals with the Internal Model Control (IMC) design which is based on the use of a specific controller and extended to the case of linear multivariable underactuated systems. The case of a class of linear underactuated systems with two degrees of underactuation will be considered in order to confirm the effectiveness of the proposed approach to ensure set-point tracking and disturbance rejection. The case of an imperfect modelling will also be presented and model parameters effects on the system behaviour evolution will be discussed.