Anisochronic Internal Model Control Design

T. Vyhlídal, P. Zítek


The features of internal model control (IMC) design based on the first order anisochronic model are investigated in this paper. The structure of the anisochronic model is chosen in order to fit both the dominant pole and the dominant zero of the system dynamics being approximated. Thanks to its fairly plain structure, the model is suitable for use in IMC design. However, use of the anisochronic model in IMC design may result in so-called neutral dynamics of the closed loop. This phenomenon is studied in this paper via analysing the spectra of the closed loop system.


internal model control; time delay system; dynamics analysis; system spectrum

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ISSN 1210-2709 (Print)
ISSN 1805-2363 (Online)
Published by the Czech Technical University in Prague