2DOF IMC and Smith-Predictor-Based Control for Stabilised Unstable First Order Time Delayed Plants

Mikulas Huba, Pavol Bistak and Damir Vrancic
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Mikulas Huba: Institute of Automotive Mechatronics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, 812 19 Bratislava, Slovakia
Pavol Bistak: Institute of Automotive Mechatronics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, 812 19 Bratislava, Slovakia
Damir Vrancic: Department of Systems and Control, Jožef Stefan Institute, 1000 Ljubljana, Slovenia

Mathematics, 2021, vol. 9, issue 9, 1-23

Abstract: The article brings a brief revision of the two-degree-of-freedom (2-DoF) internal model control (IMC) and the 2-DoF Smith-Predictor-based (SP) control of unstable systems. It shows that the first important reason for distinguishing between these approaches is the limitations of the control action. However, it also reminds that, in addition to the seemingly lucrative dynamics of transients, the proposed approaches can conceal a tricky behavior with a structural instability, which may manifest itself only after a longer period of time. Instead, as one of possible reliable alternatives, two-step IMC and filtered Smith predictor (FSP) design are applied to unstable first-order time-delayed (UFOTD) systems. Firstly, the 2-DoF P controller yielding a double real dominant closed loop pole is applied. Only then the 2-DoF IMC or FSP controllers are designed, providing slightly slower, but more robust transients. These remain stable even in the long run, while also showing increased robustness.

Keywords: dead time compensator; 2-DoF smith predictor; 2-DoF IMC (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
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