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The IMC structure of control systems shows advantages over the other control structures. The IMC structure permits us overcoming dificulties when a limitation of actuating magnitude as well as non linearity of the plant must be taken in account. The target of this paper is to describe the lMC control systems and their stability robustness. In Section 2 the normal feedback structure and the IMC structure is explained in order to make a comparison. In Section 3 the internal stability is generally defined and then the robust stability of some special IMC structures is studied. 1. MODAU Chon eau tnic thich hop cho 1119tdoi nrong cu th~ khi thiet ke dieu khien eo vai tro het sire quan trong doi voi tinh 6n dinh va chat IU9'l1g cua roan h? thong. Dac bier (y cac he MIMO, do t6n tai cac nrong tric cheo nen eau true di611 khien anh huong rat 16'n den moi tinh chat cua he Trong [4] eo d6 cap nhieu den van d6 nay. Chang han, eo nen tach nrong tac cheo hay khong. tach nhu the nao v,v ... Viec rham se hoa bo di6u khien nhieu khi can thiet nhirng ciing gay nhirng van d6 lien quan den tinh ben virng cua he vong k in [3]. Khi so dieu kien cua ma tran ham truyen 10'n, tfnh eo huong cua C,\C ttic dong ben ngoai len he thong lam eho viec dieu khien theo nhirng eau true kinh dien gap nhieu kho khan [5]. Hon nira, da so tnrong h9'P thuc te, bien d9 cua dai lirong, tac dong bi chan a mot ngtrong nao do. Sir han che' nay lam cho he thong tuyen nnh tro rhanh h? phi tuyen va moi van cl6 tro thanh phirc tap [7]. Cau mic dieu khien IMC (Internal Model Controller) eo nhieu uu diem cho phep virot qua nhirng tinh huong vira neu tren. Ran nira, eau true IMC rat giln gfii voi eau true MRAC (Model Reference Adaptive Control). Nghien ciru tinh ben vimg cua cac he dieu khien IMC se giup ta de dang h011 trong viec rip dung dieu khien thich nghi ben virng (Robust Adaptive Control), mot trong nhirng huong 1011trong Iy thuyet dieu khien hien dai [8] Trong phan tiep theo cua bai nay, tnroc het trinh bay eau true dieu khien IMC va so srinh voi eau true phan hoi kinh dien. Truce khi phan tich rinh ben virng cua mot so eau true IMC voi nhfrng 1110 ra bat c1inh khac nhau trong phan 3, tinh 6n dinh noi dien (Internal Stability) cua mor he dieu khien IMC duoc neu ra. Nhu da quen bier , neu mot h? 6n dinh noi dien thi no cilng 6n dinh ngoai dien (External Stability) [6] . Viec sir dung dieu kien 6n dinh noi dien lam cho tinh ben virng cua h? de diroc thoa man hon. Tuy nhien nhu sau nay se thay, dieu nay khong anh huong gt den nhirng ket qua neu ra trong bai nay. 2. cAc CAU TRUC DrEU KHn!:N D~C TRUNG. 2.1. Cau true dieu khien eo sa Ky hieu IM(s) )n"" la t~p cac ma tran ham truyen cap m x n. Trong hinh 2.1, sir tuong thfch ve cap cua c.ic ma tran ham truyen dong nghia voi P E I M(S))ITIXIl, C E I M(S»)"Xll1 va REI Mtsj}" r (s) e (s) ====>H C(s) u (s) y (s) 1 P(s) r~=*

Analyses of robust stablity of imc control systems