On the design of FIR internal model controller via QR decomposition of the plant impulse response matrix

In an internal model control(IMC) system, the controller is an approximation of the inverse plant dynamics. In this paper, a FIR controller is designed directly to approximate the inverse plant dynamics defined by its impulse response series. As a result, a super-definite matrix equation about the controller coefficient is derived. The orthonormal Householder matrix transformation is applied for the solution of this matrix equation. Thus making the algorithm numerically stable and robust. Furthermore, the controller length can be properly determined in an iterative process if it has not been preset. Simulation tests for two typical industrial plants are given to prove the effectiveness of the method