Robust adaptive IMC controller for a class of nonminimum phase stochastic systems

비최소 위상 확률 시스템을 대상으로 한 견실한 적응 IMC 제어기

In this paper, a robust reduced order adaptive controller is proposed based on Internal Model Control(IMC) structure for stochastic linear stable systems. The concept of gain margin is utilized to make the adaptive IMC controller robust. We prove the stability of the proposed adaptive IMC system for stable plants under the assumption that upper bounds for system orders are known. Simulation results show that the proposed method has good performance and stability robustness.