INTERNAL MODEL PRINCIPLE OF CONTROL-THEORY
INTERNAL MODEL PRINCIPLE OF CONTROL-THEORY
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DOI：
10.1016/0005-1098(76)90006-6
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发表时间：
1976-01-01
期刊：
影响因子：
6.4
通讯作者：
WONHAM, WM
中科院分区：
文献类型：
--
作者：
FRANCIS, BA;WONHAM, WM
经典的调节器问题的背景下提出的线性，时不变，有限维系统的确定性干扰和参考信号。控制动作由补偿器产生，该补偿器被要求在某些系统参数的小变化面前提供闭环稳定性和输出调节。它示出，使用几何方法，这样的结构稳定的合成必须利用调节变量的反馈，并在反馈路径中纳入适当的重复模型的动态结构的干扰和参考信号。这种控制结构的必要性构成了内部模型原则。结果表明，在频域中，内模的目的是提供闭环传输零点，消除干扰和参考信号的不稳定极点。最后，将内模原理推广到受阶跃干扰和参考信号影响的弱非线性系统。
The classical regulator problem is posed in the context of linear, time-invariant, finite-dimensional systems with deterministic disturbance and reference signals. Control action is generated by a compensator which is required to provide closed loop stability and output regulation in the face of small variations in certain system parameters. It is shown, using the geometric approach, that such a structurally stable synthesis must utilize feedback of the regulated variable, and incorporate in the feedback path a suitably reduplicated model of the dynamic structure of the disturbance and reference signals. The necessity of this control structure constitutes the Internal Model Principle. It is shown that, in the frequency domain, the purpose of the internal model is to supply closed loop transmission zeros which cancel the unstable poles of the disturbance and reference signals. Finally, the Internal Model Principle is extended to weakly nonlinear systems subjected to step disturbances and reference signals.