The internal model principle of control theory

Summary

The Internal Model Principle is extended to weakly nonlinear systems subjected to step disturbances and reference signals and is shown that, in the frequency domain, the purpose of the internal model is to supply closed loop transmission zeros which cancel the unstable poles of the disturbance andreference signals.

Keywords

Control theory (sociology), Internal model, Nonlinear system, Mathematics, Stability (learning theory)

References

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Robust control of a general servomechanism problem: The servo compensatorE.J. Davison, A.A. Goldenberg — 1975
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Theory of Ordinary Differential EquationsEarl A. Coddington, Norman Levinson, T. Teichmann — 1955
The Nature of ExplanationWinston H. F. Barnes — 1944
Towards an abstract internal model principleW.M. Wonham — 1976
Robust solution of the linear servomechanism problemP.W. Staats, J.B. Pearson — 1974
Every Good Regulator of a System Must Be a Model of That SystemRoger C. Conant, W. Ross Ashby — 1970
Lectures on Differential GeometryBennett Chow, Y.-C. Chow — 2024

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Parameter Optimization in Decentralized Process Control: A Program Package for Multivariable Industrial Regulators DesignC. Maffezzoni, F. Parigi — 1979
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The Internal Model Principle of Regulator Theory on Differentiable ManifoldsJoseph S. Hepburn, W.M. Wonham — 1981
EXTERNAL MODEL CONTROL OF A PERISTALTIC PUMPAlexander Medvedev, Gunnar Hillerström — 1994
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