A New Self-Tuning Internal Model Controller

A new designing method for self-tuning Internal Model Controller(IMC) is introduced. The output error is divided into two parts: the regular error and the nonregular error. Relying on the adaptive prediction based on the on-line regular error model, the IMC can be regulated on-line. Whereas, the steady error of system is eliminated by nonregular error feedback. The method has the advantage of easier calculation than normal ones. When the plant parameters change within a certain range, it can still work well.