Emulator-based control and internal model control: Complementary approaches to robust control design

Abstract

Two alternative approaches to controller design, the internal model control (IMC) of Morari and Zafiriou [Morari, M. and E. Zafiriou (1989). Robust Process Control. Prentice Hall, Englewood Cliffs, NJ] and the emulator-based control (EBC) of Gawthrop [Gawthrop, P. J. (1987). Continuous-time Self-tuning Control. Vol. 1: Design, Engineering Control Series. Research Studies Press, Lechworth, U.K.] (based on the generalized minimum variance control of Clarke and Gawthrop [Clarke, D. W. and P. J. Gawthrop (1975). Self-tuning controller. Proc. IEE, 122(9), 929–934. Clarke, D. W. and P. J. Gawthrop (1979). Self-tuning control. Proc. IEE, 126(6), 640–6333. Gawthrop, P. J. (1977). Some interpretations of the self-tuning controller. Proc. IEE, 124(10), 889–894]) are shown to differ only superficially in approach and notation. This result provides a link between robust control based on IMC and adaptive control based on EBC.