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Internal Model Control. 5. Extension to Nonlinear Systems


C.G. Economou, M. Morari, B. Palsson

Industrial and engineering chemistry. Process design and development, vol. 25, no. 2, pp. 403-411

An operator formalism is used to extend the Internal Model Control (IMC) design approach to nonlinear lumped parameter systems. It is proven that the attractive properties of IMC-as studied in linear control system design-carry over to the general nonlinear case: for open-loop stable systems, the feedback controller can be designed like a feedforward controller; the structure of the nonlinear controller is determined by the physical system, while the stabilty issue can be disregarded during the inltlal stages of the design procedure: robustness, i.e., stability in the presence of plant/model mismatch, can be addressed directly. Simulation examples demonstrate the simplicity of the design procedure and the good performance characteristics of IMC for nonlinear lumped parameter systems and show that IMC works well even in the case where no linear controller can yield stable behavior. These promising results are an incentive to both solve some of the theoretical questions which had to be left unanswered and to pursue experimental testing of the scheme.


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% Autogenerated BibTeX entry
@Article { EcoMor:1986:IFA_2983,
    author={C.G. Economou and M. Morari and B. Palsson},
    title={{Internal Model Control. 5. Extension to Nonlinear Systems}},
    journal={Industrial and engineering chemistry. Process design and
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