Robust stochastic control using the internal mode principle and internal model control

The use of the internal model principle (IMP, absorption principle) and internal model control (IMC) together is investigated. The design constructively achieves both robust stability and disturbance rejection. A comparison with one-degree-of-freedom IMC is made. The advantage over IMC is in the treatment of the disturbance rejection which results in a much simpler design for general classes of disturbances.