U-model-based internal model control for non-linear dynamic plants

M. Shafiq*, M. Haseebuddin

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)


In this paper, a U-model in the internal model control (IMC) structure is used. The U-model is a control-oriented model applicable to a wide class of non-linear plants. It is a non-linear polynomial representation of the plant, which allows the use of well-established polynomial controller design methodologies. A learning rate parameter is introduced in the inverse finding computational algorithm in order to improve the convergence and stability properties. Computer simulation results and real-time experimental results are presented to show the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)449-458
Number of pages10
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number6
Publication statusPublished - Oct 2005


  • Control-oriented model
  • Internal model control
  • Non-linear control
  • U-model

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering


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