Generalized Internal Model Control for a Single Flexible Beam

Abstract This paper presents an experimental study of a flexible beam using a new controller architecture. This controller architecture separates the control design into two steps: (a) a performance controller and (b) a robustness controller. The distinguished feature of this new controller architecture is that the control system will behave like a system with only the performance controller when there is no uncertainty and the robust controller will only act where there is a discrepancy between the true system and the mathematical model used in design. Our experiments show the advantage of this new controller architecture.