Since the helicopter was always subject to uncertainties and disturbances during flight,the internal model,which was the common unstable model of the reference input and the disturbance,was embedded into the servo com.

Based on Smith dead time compensation theory, an internal model predictive control structure is given for large dead time processes and its design methods and procedures are introduced.

To deal with the stochastic signal processing problem in which the deterministic disturbance is involved, a new adaptive Kalman filtering technique based on internal model (so-called Internal model adaptive kalman filtering──IMAKF) is proposed.

In order to solve this problem,this paper presented a control strategy of current decoupling using internal mold principle based on the model of VSC-HVDC,and provided theoretical analysis and a parameter setting algorithm.

This paper starts from inner model and inner model controller,and has derived the time delay compensation principle of Smith predictive control and inner model control structure design of Smith predictor.

This algorithm utilizes TSK modeling scheme to identify fuzzy internal model on line by using the input and output measurement of the plant; at the same time it designs local fuzzy control rule set of linear quadratic optimal ( H 2 ) based on the identified model and all fuzzy control set.