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imc structure

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Simple two degree of freedom structures and their properties
Rafael Osypiuk, Bernd Finkemeyer, Stanislaw Skoczowski
Journal:

Robotica / Volume 24 / Issue 3 / May 2006

Published online by Cambridge University Press:

24 February 2006, pp. 365-372
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A two-degree of freedom control system that is most frequently encountered in practice is the so-called Internal Model Control (IMC) structure. However, the design procedure of such a structure does not present an easy task, which implies a limited utility of IMC. In this paper two alternative solutions are proposed that may be lumped together as Model-Following Control (MFC). These are two-loop control systems being easy to implement and offering interesting properties. Theoretical assumptions have been verified experimentally on a two-joint robot manipulator. Both qualitative and quantitative results yielded by experiments are presented and discussed.