Speed Control of an Uncertain Heavy-Duty Vehicle Using Improved IMC Technique

An improved internal model control (IMC) for speed control and disturbance rejection of the heavy-duty vehicle (HDV) is proposed. The limitation of conventional IMC is the steady-state error in accelerating and decelerating mode of the vehicle. In this work, the conventional low-pass filter is modified and replaced by a filter named as robust filter and its parameters are determined using simple designed formula as proposed in this work. The clustering and Hankel approximation approaches are used for order reduction, and control technique is employed for the design of improved IMC structure. The proposed control techniques are developed to achieve the better speed regulation and disturbance rejection performances of HDV system in the influence of road grade disturbance.