Robust Internal Model Control

This paper discusses the method of control systems design for dynamic plants under bounded uncertainty. The structure of these systems coincides with the structure of systems with an internal model. But the choice of an internal model and a controller depends on the demand of the bounded decrease of system sensitivity to the change of plant characteristics and external action and on the demand of modal control. The absorption principle is used for the synthesis of a controller of such robust modal control systems. The realization conditions of robust systems of modal control are stated.