Abstract
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.