Conclusion

Abstract

In this research monograph, we have presented a general systematic approach for the design and analysis of robust adaptive IMC schemes for single-input single-output, stable, linear, time-invariant systems. The approach hinges on invoking the ubiquitous Certainty Equivalence Principle [14, 19] of adaptive control to combine robust parameter estimators with robust internal model controller structures to obtain adaptive internal model control schemes that can be proven to be robustly stable. The strategy is very general and can be used by the reader to design and analyze adaptive versions of his or her own favourite IMC scheme. Nevertheless, to get a more concrete feel for the design and analysis procedure, some specific adaptive IMC schemes have been considered, namely those of the partial pole placement, model reference, H ₂ optimal and H _„ optimal control types. The design procedure in each of these cases was illustrated via simple examples.