Abstract: The design of a simplified IMPACT (Internal Model Principle and Control Together) structure comprising conventional digital control laws is presented. The design procedure is accomplished to enable the extraction of a known class of immeasurable external disturbances and easy setting of the controller parameters. In the proposed controlling structure, the set point transient response and speed of disturbance rejection can be adjusted independently. The efficiency and robustness of the proposed controlling structure are verified and tested by the simulation and experimental setup.
Keywords: IMPACT controlling structure, conventional digital control laws, disturbance extraction.