Model free control based on GIMC structure

Zenghui Wang, Yanxia Sun, Guoyuan Qi, Barend Jacobus Van Wyk

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


Many control researches for complicated and uncertain system are model-dependent and therefore require some prior knowledge for the complex systems. To avoid this problem, a number of model-free controllers are proposed. However, it is difficult to determine the control performance as the controller is not designed according certain system model especially when there are uncertainties and/or nonlinear dynamics in the system. To get over this problem, the model free controller (MFC) based on generalized internal model control (GIMC) structure is proposed in this paper. The MFC is used to attenuate the disturbance or uncertainty, and the system performance is determined by the nominal model and the nominal model controller. The parameters of nominal-model controller can be easily changed for meeting the change of the desired requirements. Moreover, the robust controller in the original GIMC is disassembled and rearranged to make the proposed methods easier to use, and the proposed method makes the controller be more flexible and greatly improves the system performance. Finally, the experiment results show that the MFC can be used to control the nonlinear systems and get the expected performance. The statistical analysis of performance for servo and regulatory behaviors also shows that the proposed method can achieve a better control performance than just using model free controller.

Original languageEnglish
Pages (from-to)173-179
Number of pages7
JournalInternational Journal of Control, Automation and Systems
Issue number1
Publication statusPublished - Feb 2012
Externally publishedYes


  • Generalized internal model control
  • Model free controller
  • Nominal model
  • Stability
  • Uncertain system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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