Internal Model Control: Efficient Disturbance Rejection for Dead-Time Process Models with Validation on an Active Suspension System

Internal Model Control algorithms have numerous advantages, linked to the simplicity of the tuning procedure, the intrinsic dead-time compensation, reasonable robustness. In this paper, a novel idea for tuning an optimized IMC filter for input or load disturbance rejection is used and validated experimentally on a poorly damped process, an active suspension system. The core principle of the design is that the disturbance filter compensates for the process dead-times, provided that the disturbances have a stochastic nature with the spectral energy centered in a narrow frequency band (such as quasi-periodic disturbances). Diophantine equations are used to compute the disturbance filter coefficients. The experimental results show that the novel IMC controller improves the rejection capabilities of the standard default IMC algorithm. Validation is performed considering variations in the disturbance frequency. An adaptive suspension control situation is also tested, with an adapted IMC controller improving even further the disturbance attenuation properties of the proposed optimized IMC.

[1]  Daniel E. Rivera,et al.  Internal Model Control , 2010, Encyclopedia of Machine Learning.

[2]  M. Morari,et al.  Internal model control: PID controller design , 1986 .

[3]  Evanghelos Zafiriou,et al.  Robust process control , 1987 .

[4]  Cristina I. Muresan,et al.  Experimental Validation of an Efficient Disturbance Rejection Method for Dead-Time Processes using Internal Model Control , 2019, 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA).

[5]  Andres Hernandez,et al.  Discrete-time internal model control with disturbance and vibration rejection , 2017 .

[6]  Qibing Jin,et al.  Design of active disturbance rejection internal model control strategy for SISO system with time delay process , 2015 .

[7]  Yogesh V. Hote,et al.  Advances in Internal Model Control Technique: A Review and Future Prospects , 2012 .

[8]  M. Shamsuzzoha,et al.  IMC based robust PID controller tuning for disturbance rejection , 2016 .

[9]  Q Liu,et al.  IMC-PID design based on model matching approach and closed-loop shaping. , 2014, ISA transactions.

[10]  Antonio Visioli.  IMPROVING THE LOAD DISTURBANCE REJECTION PERFORMANCES OF IMC-TUNED PID CONTROLLERS , 2002 .

[11]  Tao Liu,et al.  New insight into internal model control filter design for load disturbance rejection , 2010 .

[12]  Uma Datta,et al.  Bio Inspired Modified Internal Model Control Approach for Improved Disturbance Rejection of Piezo Micro Manipulator , 2018 .

[13]  Tsuyoshi Murata,et al.  {m , 1934, ACML.

[14]  Qibing Jin,et al.  IMC–PID Design: Analytical Optimization for Performance/Robustness Tradeoff Tuning for Servo/Regulation Mode , 2014 .

[15]  Qibing Jin,et al.  Analytical IMC-PID design in terms of performance/robustness tradeoff for integrating processes: From 2-Dof to 1-Dof , 2014 .

[16]  M. V. Subramanyam,et al.  Design of Cascaded IMC-PID Controller with Improved Filter for Disturbance Rejection , 2014 .

[17]  Tao Liu,et al.  Enhanced IMC design of load disturbance rejection for integrating and unstable processes with slow dynamics. , 2011, ISA transactions.

[18]  Moonyong Lee,et al.  IMC−PID Controller Design for Improved Disturbance Rejection of Time-Delayed Processes , 2007 .

[19]  Clara M. Ionescu,et al.  Efficient disturbance rejection for dead-time processes using internal model control , 2018, 2018 SICE International Symposium on Control Systems (SICE ISCS).