Selective invariant multivariable control system design based on inverse model approach

Abstract

The problem of disturbance rejection in multivariable control systems is considered. It has been shown that different two-degree-of-freedom control structures used for immeasurable disturbance estimation and compensation may be treated as a particular case of a general Inverse Model Control approach. The decomposition of the problem into the separate disturbance estimation and compensation is suggested. Moreover the connection between inverse model design problems and unknown input observer theory has been established in order to give a practical way to inverse model parameterization and design. The properties of closed-loop selective invariant control system with model-based controllers have been also investigated with the aim of attainable accuracy estimation.