This paper discusses the recently developed time-varying internal model-based tracking control design. In particular, it is shown that the parallel connection between the stabilizer and the internal model would facilitate the design of a robust stabilizer. Also it is shown that in the presence of plant model uncertainty the time-varying internal model based on the nominal values of the plant model can generate an input which can be made close enough to the desired control input rendering the regulated error identically zero. The simulation results validate the proposed robust stabilizer design.
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