Earticle

In this paper, we proposed a model-following controller for single-input-single-output (SISO) and multiple-input-multiple-output (MIMO) systems. This control system does not include plant parameters, and thus is designed using normalized plant. Moreover, we propose a design method of the normalized plant for the controlled plant with zero. And furthermore, we propose a design method for model-following controllers, which can easily decouple for MIMO systems. Simulation and experimental results show that the proposed method is robust to plant parameter variations and external disturbances.