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|Title||A New Approach of Robust Internal Model Control for Nonlinear Pendulum System|
The internal model control (IMC) philosophy relies on the internal model principle, which states that control can be achieved only if the control system encapsulates, either implicitly or explicitly, some representation of the process to be controlled. In particular, if the control scheme is developed based on an exact model of the process, then perfect control is theoretically possible. A new approach of control design of internal model controller is proposed in this thesis. The proposed design method focuses on modifying the old general structure of IMC and develops a new model structure while saving the same general concept of using the invertible version of the system in the controller design. The new approach combines the IMC structure and the traditional structure of a control problem and this demonstrates an excellent performance and behavior against different disturbance inputs and model uncertainty presented in model parameter mismatch. Beside that a smith predictor is added to promote the design to compensate the delayed time systems. Also a proposed stabilizer has mentioned to deal with unstable systems. The research browses the pendulum system and gets its transfer function to be the base of the design, which examines our proposed controller. Matlab/simulink is used to simulate the procedures and validate their performance. The results approved the robustness of the new method and got graded responses when compared with others. Furthermore, a comparison between the IMC and new modified IMC was conducted and shows that the new IMC is superior to old structure in terms of time delay compensation and response specifications.
|Publisher||the islamic university|
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