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This chapter presents anInternal Model Control (IMC) enhanced internal modelEnhanced Internal Model Control (enhanced IMC) controlInternal Model Control (IMC) (enhanced IMCInternal Model Control (IMC)) framework designed to improve the robustness of conventional IMCInternal Model Control (IMC) systems in the face of plant-model mismatch and external disturbances. While classical IMCInternal Model Control (IMC) offers a transparent and modular architecture grounded in model-based design, its sensitivity to modeling inaccuracies can undermine performance and stability. To address these limitations, the chapter introduces a structurally simple yet powerful augmentationAugmentation: a dynamic model-following (MF) compensatorModel-following (MF) compensator and gain pathwayPathway that actively corrects model errors in real time. TheEnhanced Internal Model Control (enhanced IMC) enhanced IMCInternal Model Control (IMC) architecture maintains the original controller design, preserving key advantages such as simplicity, interpretabilityInterpretability, and ease of tuning. Analytical derivations demonstrate that this modification attenuates both multiplicative and additive uncertaintiesAdditive uncertainty, as well as exogenous disturbancesExogenous disturbance, by a quantifiable margin. Numerical simulationsNumerical simulation confirm improved reference tracking, disturbance rejectionDisturbance rejection, and robustness, even under significant uncertainty. Importantly, the enhancement is modular and decoupled from the main controller design, allowing seamless integration with existing IMCInternal Model Control (IMC) implementations. The chapter concludes with an illustrative case study showing substantial performance gains in a mass–stiffness–damping systemMass–stiffness–damping system (MKC systemMKC system). ThisEnhanced Internal Model Control (enhanced IMC) enhanced IMCInternal Model Control (IMC) approach offers a practical, scalable, and theoretically sound method for robust control—applicable to a broad range of engineering systemsEngineering system requiring high reliability and performance under uncertain conditions.

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Enhanced Internal Model Control

  • 章节

  • 发表日期：

    2026年

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  • Hai-An Zhu

摘要

This chapter presents anInternal Model Control (IMC) enhanced internal modelEnhanced Internal Model Control (enhanced IMC) controlInternal Model Control (IMC) (enhanced IMCInternal Model Control (IMC)) framework designed to improve the robustness of conventional IMCInternal Model Control (IMC) systems in the face of plant-model mismatch and external disturbances. While classical IMCInternal Model Control (IMC) offers a transparent and modular architecture grounded in model-based design, its sensitivity to modeling inaccuracies can undermine performance and stability. To address these limitations, the chapter introduces a structurally simple yet powerful augmentationAugmentation: a dynamic model-following (MF) compensatorModel-following (MF) compensator and gain pathwayPathway that actively corrects model errors in real time. TheEnhanced Internal Model Control (enhanced IMC) enhanced IMCInternal Model Control (IMC) architecture maintains the original controller design, preserving key advantages such as simplicity, interpretabilityInterpretability, and ease of tuning. Analytical derivations demonstrate that this modification attenuates both multiplicative and additive uncertaintiesAdditive uncertainty, as well as exogenous disturbancesExogenous disturbance, by a quantifiable margin. Numerical simulationsNumerical simulation confirm improved reference tracking, disturbance rejectionDisturbance rejection, and robustness, even under significant uncertainty. Importantly, the enhancement is modular and decoupled from the main controller design, allowing seamless integration with existing IMCInternal Model Control (IMC) implementations. The chapter concludes with an illustrative case study showing substantial performance gains in a mass–stiffness–damping systemMass–stiffness–damping system (MKC systemMKC system). ThisEnhanced Internal Model Control (enhanced IMC) enhanced IMCInternal Model Control (IMC) approach offers a practical, scalable, and theoretically sound method for robust control—applicable to a broad range of engineering systemsEngineering system requiring high reliability and performance under uncertain conditions.