Passivity based IMC control for multivariable nonlinear systems

This paper proposes a new control method for multivariable nonlinear processes based on the internal model control (IMC) framework and the passivity theorem. The conventional IMC method involves inversion of the process, which is often difficult or even impossible. In the proposed method, the process is approximated using a passive system. The controller is designed to effectively invert the passive approximation. The stability of the closed-loop system is guaranteed by the passivity condition. The effectiveness of the proposed method is illustrated by using a mixing tank control problem.