Multi-loop model based parallel control systems

The paper presents robust control systems based on the Model-Following Control concept. There are analyzed three control structures extended to the general n-loop case. The parallel way in which the proposed structures are built reduces the time the signal is propagated in the loops, which outperforms the well-known serial cascade structure. Additionally, employing forward dynamical models relieves one of having to find the compensator, unlike feedforward or IMC(Internal Model Control)/(2DOF)IMC systems. The robustness of the proposed structures is significantly higher than that offered by the most commonly used control systems, i.e. the single-loop PID control. An example of implementing the n-MFC structure for position control of a directly driven two-joint serial manipulator is also given in the paper.