U-Model Based 2DoF Multi-Variable IMC for Improved Input-Disturbance Rejection: A Case Study on a 2-Link Robot Manipulator

Syed Saad Azhar Ali, Fouad M. Al-Sunni, M. Shafiq

Research output: Contribution to journalArticle

7 Citations (Scopus)


A 2-degree-of-freedom internal model control strategy based on U-model is presented for an unknown multivariable nonlinear systems. The proposed algorithm focuses the case where the noise is added at the input of the system and makes use of a local disturbance rejector. The unknown multivariable nonlinear system is identified by the control oriented U-model and the inverse controller is established using Newton-Raphson method. The proposed algorithm is tested in real-time on a 2-link robot manipulator.

Original languageEnglish
Pages (from-to)166-175
Number of pages10
JournalInternational Journal of Advanced Robotic Systems
Issue number4
Publication statusPublished - Sep 1 2011



  • control oriented U-model
  • Newton-Raphson
  • Robot Manipulator

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence

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