As known, internal model control is equivalent to a PI or a PID controller provided that the mathematical model associated to the process to be controlled is of first or second order respectively. So, to go beyond these particular cases and to make an extension in bringing more theoretical results, the article proposes a method to reach the equivalence between an internal model control and a PI controller regardless of the model order. To this end, the key idea consists of using a specific filter that exhibits superior robustness level compared to the classical filter and further leads to get a structure of a PI controller whatever the order of the model is. The developed procedure constitutes the main contribution of this article. To meet given set of specifications, the controller parameters are tuned through a straightforward analytic way using the dynamics of the tracking error. The proposed tuning strategy constitutes another contribution of the article. Furthermore, to evaluate the efficiency level of this procedure, an application to control an autonomous vehicle is described and the simulation results are shown to be satisfactory confirmed by a series of experimental tests.

中文翻译：

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改进的 IMC 滤波器设计和 IMC-PI 等效：在阵风下的四旋翼飞行器的应用

众所周知，如果与要控制的过程相关的数学模型分别为一阶或二阶，则内部模型控制等效于 PI 或 PID 控制器。因此，为了超越这些特殊情况并进行扩展以带来更多的理论结果，本文提出了一种无论模型顺序如何都可以达到内部模型控制和PI控制器之间的等效性的方法。为此，关键思想包括使用一个特定的滤波器，与经典滤波器相比，该滤波器表现出卓越的鲁棒性水平，并进一步导致无论模型的顺序如何，都能获得 PI 控制器的结构。开发的程序构成了本文的主要贡献。为了满足给定的一组规格，控制器参数通过使用跟踪误差动态的直接分析方式进行调整。提议的调整策略构成了本文的另一个贡献。此外，为了评估该程序的效率水平，描述了控制自动驾驶汽车的应用，模拟结果表明，通过一系列实验测试得到令人满意的证实。