Modified Internal Model Control for Cart Inverted Pendulum System

An improved internal model control)IMC (method is suggested in this paper for control of under-actuated MIMO system. The main idea of the proposed control technique is to ensure perfect reference tracking of the under-actuated MIMO system, which is difficult to attain, by the conventional method. The condition of the perfect reference tracking is derived in this paper for the under-actuated MIMO system. The designed controller is successfully realized on the cart inverted pendulum system, which is an example of unstable under-actuated MIMO system. The performance of the designed control method is verified through the simulation results.