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U-model-based two-degree-of-freedom internal model control of nonlinear dynamic systems

Li, Ruobing; Zhu, Quanmin; Narayan, Pritesh; Yue, Alex; Yao, Yufeng; Deng, Mingcong


Ruobing Li

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Quan Zhu
Professor in Control Systems

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Alex Yue
Senior Lecturer in Bioinstrumentation and Sensor Interfacing

Yufeng Yao
Professor in Aerospace Engineering

Mingcong Deng


This paper proposes a U-Model-Based Two-Degree-of-Freedom Internal Model Control (UTDF-IMC) structure with strength in nonlinear dynamic inversion, and separation of tracking design and robustness design. This approach can effectively accommodate modeling error and disturbance while removing those widely used linearization techniques for nonlinear plants/processes. To assure the expansion and applications, it analyses the key properties associated with the UTDF-IMC. For initial benchmark testing, computational experiments are conducted using MATLAB/Simulink for two mismatched linear and nonlinear plants. Further tests consider an industrial system, in which the IMC of a Permanent Magnet Synchronous Motor (PMSM) is simulated to demonstrate the effectiveness of the design procedure for potential industrial applications.


Li, R., Zhu, Q., Narayan, P., Yue, A., Yao, Y., & Deng, M. (2021). U-model-based two-degree-of-freedom internal model control of nonlinear dynamic systems. Entropy, 23(2), Article 169.

Journal Article Type Article
Acceptance Date Jan 29, 2021
Online Publication Date Jan 29, 2021
Publication Date Jan 29, 2021
Deposit Date Feb 20, 2021
Publicly Available Date Feb 24, 2021
Journal Entropy
Electronic ISSN 1099-4300
Publisher MDPI
Peer Reviewed Peer Reviewed
Volume 23
Issue 2
Article Number 169
Keywords General Physics and Astronomy
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