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The central control accuracy theorem for internal model control and its applications

Latawiec K., Marciak C., Wrzuszczak J.

Archives of Control Sciences

1998

Vol. 7, no. 3/4

227-239

The well-known feature of the Internal Model Control (IMC) structure, providing steady-state error-free servo and regulatory controls for step-wise forcing signals, is generalized by what is termed the "central IMC theorem". The generalization consists not only in the original extension of the SISO and square MIMO results to nonsquare MIMO systems, but mainly in redeveloping certain IMC accuracy-related properties to any appropriately scaled, stabilizing controller. Instructive applications of the central IMC theorem in Model Algorithmic Control (MAC), Extended Horizon Model Algorithmic Control (EHMAC) and Generalized Predictive Control (GPC) are demonstrated.