A new disturbance observation based internal model controller

A new robust controller design method, called disturbance observation based internal model control, is proposed. This new controller has a new structure composed of two sub-controllers, the inner disturbance compensator and the outer nominal controller. An attractive advantage of this structure is that the parameters of the two controllers can be designed separately. That is, there is little coupling between the two sub-controllers. The comparison between the structures of the proposed controller and that of the traditional internal model controller is given, and detailed theoretical analysis on controller performances, robustness and sensitivity are conducted. Finally, extensive experiments are conducted to verify the feasible and validity of this new controller designing algorithm in the real application.