Reduced Order Internal Models in the Frequency Domain

Authors Petteri Laakkonen, Lassi Paunonen

Publication date 14 September 2018

Full work available at URL https://arxiv.org/abs/1610.05517

System structure simplification (93B11) Frequency-response methods in control theory (93C80)

Abstract: The internal model principle states that all robustly regulating controllers must contain a suitably reduplicated internal model of the signal to be regulated. Using frequency domain methods, we show that the number of the copies may be reduced if the class of perturbations in the problem is restricted. We present a two stage design procedure for a simple controller containing a reduced order internal model achieving robust regulation. The results are illustrated with an example of a five tank laboratory process where a restricted class of perturbations arises naturally.

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