Two-Degree-of-Freedom IMC Paramertization of Multivariable Systems

Abstract

This paper presents the systematic design method of two-degree-of-freedom parametrization of multivariable systems. It is shown that the four elements are required. The first one is to yield the inner-outer factorization, where the outer is low-pass filter to adjust the output response to the reference. The second is to stabilize the unstable plant and to adjust the response to the disturbance. The third is for internal stability and the last one is to yield the steady state characteristics. The design methods of them are presented. The total controllers are realized as observer-based state feedback controller.