针对不稳定对象的三自由度内模控制

针对部分内模控制（Partial Internal Model Control）仅有一个可调节参数，性能调节不明确，调节范围小等不足，提出部分内模控制与三自由度内模控制相结合的控制器设计方法.理论分析和仿真结果表明，这种方法对存在干扰和模型失配的不稳定对象具有调节参数明确，控制效果好，调节范围明显增大的优点.

Three-degree-of-freedom IMC for unstable process

Partial internal model control(PIMC) is an effective control scheme for the unstable processes,but it has only one tuning parameter for improving the control performance and its tuning policies are not very explicit.In this paper,we propose a design method by integrating PIMC with three-degree-of-freedom IMC.Theoretical analysis and simulation results show that the proposed method has better control performance for the unstable plant subjected to disturbances and model mismatches.