ROBUST CONTINUOUS CONTROL-SYSTEMS WITH INTERNAL MODELS

The paper discusses continuous control systems for an interval plant, i.e., a plant which parameter values belongs to the given tolerances intervals. The use of internal models allows to design robust systems ensuring the given nominal properties. These systems are weakly sensitive to the change of parameter as well as to external disturbances. The necessary and sufficient conditions of the workability of robust control systems with internal models are given. When a priori information on disturbances is not sufficient it is suggested to use the tuning of internal disturbances model.