Elsevier

Automatica

Volume 32, Issue 8, August 1996, Pages 1223-1227
Automatica

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

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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.

References (25)

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    This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor Anu Annaswamy under the direction of Editor C. C. Hang

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