Design of a Data-Driven Internal Model Controller

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  • Tsutsumi Kento
    Graduate School of Education, Hiroshima University
  • Yamamoto Toru
    Div. of Electrical, Systems and Mathematical Engineering, Hiroshima University

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Other Title
  • データ駆動型内部モデル制御系の一設計
  • データ クドウガタ ナイブ モデル セイギョケイ ノ イチ セッケイ

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Abstract

This paper describes a design of internal model controllers base on the data-driven (DD) approach. The internal model control (IMC) has a simple structure and has a high robustness for system uncertainties. However, there are few studies of IMC schemes for nonlinear systems. On the other hand, lots of controlled systems have the nonlinearity. It is difficult to obtain good control performances in the use of such a simple method. In recently years, some more effective control methods are demanded by a reason that the competition of the industrial world has intensified. Then, the DD approach is applied to the IMC in this paper. According to the DD approach, some local models are automatically generated based on input/output data pairs of the controlled object stored in the database. This scheme can adjust the internal model parameters in the on-line manner even if reference signals are changed. Finally, the effectiveness of the newly proposed control scheme is numerically evaluated on some simulation examples in comparison with the conventional control methods for nonlinear systems.

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