Robust Internal Model Control for Impulse Elimination of Singular Systems

In this paper the problem of model based internal control of singular systems is investigated. The limitations of directly extending the control schemes for normal systems to singular ones are thoroughly developed, and a robust approach is proposed in order to establish a control scheme for singular systems. The proposed method presents a general framework for robust control design of singular systems in presence of modeling uncertainties. Two simulation examples are given to how the proposed method can be implemented, and to show the effectiveness of such controllers in closed loop performance.