Internal model control with enhanced robustness

Based on the conventional structure of internal model control (IMC), a novel IMC scheme with enhanced robustness is developed in this paper. The necessary structure modification for robustness enhancement is very simple as well as effective, and the synthesis of the additional components is not only very simple but also independent from the design of the original IMC controller. Both analytical and numerical studies have been presented to demonstrate the contribution of the structure modification to the robustness enhancement of IMC systems