Virtual Reference Feedback Tuning of Internal Model Controllers

Proceedings of the 49th IEEE Conference on Decision and Control, 2010
Author(s):Formentin S., Corno M., Savaresi S., Del Re L.
This paper proposes a model-free control-design methodology for IMC (Internal-Model-Controller) schemes. The idea is based on the virtual reference approach and it guarantees good performance in the regulation of processes characterized by either strong dead-time phenomena or high relative degrees in the discrete-time domain. The proposed technique is tested on a critical vehicle dynamics example, where it is also compared with the classical VRFT approach. Effectiveness of the methodology is illustrated also in case of small errors in the delay estimate.
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