Iterative design using IMC for input time-delay systems with disturbance observer

Abstract

AbstractThis paper discusses the iterative design method of closed-loop identification and internal model control (IMC) for input time-delay systems with a disturbance observer. The IMC is known as an effective control method for time-delay systems; however, a precisely identified model is required for achieving effective control performance. High closed-loop performance is achieved by the iteration of the IMC and the closed-loop identification. Moreover, the disturbance observer requires the same precise model as the IMC. In this paper, an iterative design method for the IMC combined with a disturbance observer for the time-delay system is proposed and confirmed by experimental results.