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Designing controllers with reduced order internal models

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Original languageEnglish
Article number6826480
Pages (from-to)775-780
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number3
Publication statusPublished - 1 Mar 2015
Publication typeA1 Journal article-refereed


In this technical note we study robust output tracking for autonomous linear systems. We introduce a new approach to designing robust controllers using a recent observation that a full internal model is not always necessary for robustness. Especially this may be the case if the control law is only required to be robust with respect to a specific predetermined class of uncertainties in the parameters of the plant. The results are illustrated with an example on robust output tracking for coupled harmonic oscillators.

Publication forum classification

Field of science, Statistics Finland