Improved IMC-Filter Design to IMC-PI Equivalence: Application to Quadrotor

Yasser Bouzid 1 Houria Siguerdidjane 2 Mehdi Zareb 3 Yasmina Bestaoui 4
1 CSCS Laboratory
2 L2S - Laboratoire des signaux et systèmes
3 Electronic department
4 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
Abstract : This paper proposes a method to reach the equivalence between an IMC and a PI controller regardless of the model order. To this end, the key idea consists of using a specific IMC filter that exhibits a good level of robustness and further leads to get a structure of a PI controller whatever the order of the model is. The developed procedure constitutes the main contribution of this paper. To meet given set of specifications, the controller parameters are tuned through a straightforward analytic way using the dynamics of the tracking error. Furthermore, in order to evaluate the efficiency level of this procedure, an application to control an autonomous vehicle is described and the simulation results are shown to be satisfactory.
Keywords : IMC-Filter Internal model contro lPI controller Quadrotor
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Conference papers
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https://hal.archives-ouvertes.fr/hal-02442191
Contributor : Frédéric Davesne <>
Submitted on : Thursday, January 16, 2020 - 1:00:21 PM
Last modification on : Saturday, January 18, 2020 - 1:25:04 AM

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UNIV-EVRY | IBISC | IBISC-SIAM | SUP_LSS | SUP_SYSTEMES | TDS-MACS | CENTRALESUPELEC | L2S | CNRS | UNIV-PARIS-SACLAY

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Yasser Bouzid, Houria Siguerdidjane, Mehdi Zareb, Yasmina Bestaoui. Improved IMC-Filter Design to IMC-PI Equivalence: Application to Quadrotor. 21st IFAC Symposium on Automatic Control in Aerospace (ACA 2019), Aug 2019, Cranfield, United Kingdom. pp.158--163, ⟨10.1016/j.ifacol.2019.11.190⟩. ⟨hal-02442191⟩

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