Semi active internal model control for passive disturbance rejection

A. Alleyne, M. Tharayil

Research output: Contribution to journalConference articlepeer-review


This paper presents novel results on the asymptotic rejection of periodic disturbances utilizing no external power sources. The exposition is done for Single Input, Single Output linear time invariant systems that have a passive characteristic; representative of many vibration control schemes. The Internal Model Control approach is utilized to develop a controller that will asymptotically track reference commands or reject disturbances. The passivity of the open loop system is then utilized to determine a controller that acts in a semi-active fashion for the disturbance rejection case only. Two issues are addressed: overall closed loop stability and asymptotic rejection of the disturbance. The resulting controller leads to a discontinuous dynamic system and methods are given for handling this. Experimental results on a Single Degree of Freedom electromechanical testbed verify the performance and advantages of the Semi Active Internal Model (SAIM) method. By carefully modulating the rate of energy dissipation, performance levels akin to fully active vibration control can be achieved without utilizing external power.

Original languageEnglish (US)
Pages (from-to)1438-1443
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 2001
Externally publishedYes
Event2001 American Control Conference - Arlington, VA, United States
Duration: Jun 25 2001Jun 27 2001

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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