Title: Improved filter design in internal model control: application to hybrid feed drive mechatronic system
Authors: Nahla Touati; Imen Saidi; Dhaou Soudani
Addresses: Department of Electromechanical Engineering, ESPRIT School of Engineering, Chotrana II B.P. 160, El Ghazela – Ariana, 2083, Tunisia ' National Engineering School of Tunis (ENIT), Laboratory of Research in Automatic Control – LA.R.A., University of Tunis El Manar, BP 37, Le Belvédére, 1002 Tunis, Tunisia ' National Engineering School of Tunis (ENIT), Laboratory of Research in Automatic Control – LA.R.A., University of Tunis El Manar, BP 37, Le Belvédére, 1002 Tunis, Tunisia
Abstract: In this paper, the internal model control (IMC) is proposed for overactuated systems for high frequency bands. To deal with redundancy, the method of virtual outputs is considered to square the system and design the controller obtained by a specific inversion technique. An improved low-pass filter is then inserted in the IMC structure in order to attenuate the sensitivity of the controller, improve the system performance and the robustness of the structure towards disturbances and uncertainties. The proposed filter design aims to increase the bandwidth of the system. Furthermore, to evaluate its efficiency, an application to control a mechanical linear system, namely hybrid feed drive system, is described. The obtained simulation results are shown to be satisfactory by considering a series of different scenarios.
Keywords: IMC; internal model control; overactuated system; virtual outputs; hybrid feed drive; low-pass filter; robustness.
International Journal of Intelligent Engineering Informatics, 2021 Vol.9 No.6, pp.604 - 622
Received: 08 Apr 2021
Accepted: 01 Oct 2021
Published online: 25 Apr 2022 *