2013版课件内模型控制.pdfVIP

Internal Model Control Internal Model Control Part of a set of lecture notes on Introduction to Robust Control by Ming T. Tham (2002) The Internal Model Pr iple The Internal Model Control (IMC) philosophy relies on the Internal Model Pr iple, which states that control can be achieved only if the control system encapsulates, either implicitly or explicitly, some representation of the process to be controlled. In particular, if the control scheme has been developed based on an exact model of the process, then perfect control is theoretically possible. Consider, for example, the system shown in the diagram below: Figure 1. Open loop control strategy ~ A controller, G (s) , is used to control the process, G (s) . Suppose G (s) is a model of c p p G (s) . By setting G (s) to be the inverse of the model of the process, p c ~ -1 G (s) =G (s) , c p ~ and if G (s) =G (s) , (the model is an exact representation of the process) p p Then it is clear that the output will always be equal to the setpoint. Notice that this ideal control performance is achieved without feedback. What this ls us is that if we have complete knowledge about the process (as encapsulated in the process model) being controlled, we can achieve perfect control. It also ls us that feedback control is necessary only when knowledge about the process is inaccurate or