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Summary: Proceedings of the 28th Conference
on Decisionand Control
Tampa, Florida December 1989 TA13 - 11:30
INTERNAL MODELS IN REGULATION, STABILIZATION, AND TRACKING
0. R. Gonzilezt and P. J. Antsaklist
tDept. of Electrical and Computer Eng.
Old Dominion University
Norfolk, VA 23529-0246
ABSTRACT
The internal model concept is fundamental in control problems. In linear
control systems, internal models have been described in terms of poles in
the unstable (bad) region of the complex plane which contain the needed
information for the control system to attain the desired objective. It has
been erroneously believed for some time that such internal models did not
exist in the nonrobust regulation problem when a generalized plant was
considered. It is shown here that such internal models always exist not
only in regulation, but also in stabilization, and tracking if the appropriate
physically meaningful maps are considered, thus completely resolving the
existing discrepancy between abstract results and intuition on one hand,
and linear regulation literature results on the other. Both robust and
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