U-model Based Adaptive Internal Model Control of Unknown MIMO Nonlinear Systems: A Case study on 2-Link Robotic Arm

Abstract

In this paper, we propose a more generalized controller design methodology for a class of nonlinear plants. This design procedure is based on MIMO U-model structure. The U-model significantly simplifies the online synthesis of the control law. The proposed technique is applied for the internal model control of a 2-link robot manipulator. The performance of the proposed U-model based internal model controller is compared with a number of schemes. The stability issues are also discussed for the proposed scheme.