Robust model following control with use of a plant model

Abstract

The paper deals with the properties of a two-loop control system structure containing the model of a controlled plant and two PID controllers. Special attention was paid to high robustness of the structure to perturbations of the controlled plant in relation to its nominal model and to good damping of the disturbances. On the basis of theoretical and simulation results, the properties of the considered structure are compared with those of the classic, single-loop control structure. The proposed model following the control structure (MFC) may find a wide application in new intelligent controllers for robust control of parameter-varying plants such as electrothermal plants.