A Heuristic Control Algorithm for Robust Internal Model Control with Arbitrary Reference Model

  • M. G. Skarpetis
  • F. N. Koumboulis
  • A. S. Ntellis
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 283)


In this chapter the problem of Robust Internal Model Control is considered for the case of linear plants with nonlinear uncertain structure. The reference command is produced by an arbitrary reference model. A finite step Heuristic Algorithm is proposed in order to derive the controller parameters that guarantee robust performance under the proposed solvability conditions. The proposed controller is successfully applied to a hydraulic actuator uncertain model including uncertain parameters arising from changes of the operating conditions and other physical reasons. The satisfactory performance of hydraulic actuator variables for all the expected range of the actuator model uncertainties and external disturbances is illustrated via simulation experiments.


Robust internal model control Arbitrary reference command tracking Hydraulic actuator 



The present research is implemented through the Operational Program “Education and Lifelong Learning” and is co-financed by the European Union (European Social Fund) and Greek national funds (Archimedes III-Strengthening Research Groups in Technological Education, NSRF 2007–2013).


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • M. G. Skarpetis
    • 1
  • F. N. Koumboulis
    • 1
  • A. S. Ntellis
    • 1
  1. 1.Department of AutomationHalkis Institute of TechnologyHalkisGreece

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