{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:40:51Z","timestamp":1777927251806,"version":"3.51.4"},"reference-count":17,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2020,1,27]],"date-time":"2020-01-27T00:00:00Z","timestamp":1580083200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2020,10]]},"abstract":"<jats:p>As known, internal model control is equivalent to a PI or a PID controller provided that the mathematical model associated to the process to be controlled is of first or second order respectively. So, to go beyond these particular cases and to make an extension in bringing more theoretical results, the article proposes a method to reach the equivalence between an internal model control and a PI controller regardless of the model order. To this end, the key idea consists of using a specific filter that exhibits superior robustness level compared to the classical filter and further leads to get a structure of a PI controller whatever the order of the model is. The developed procedure constitutes the main contribution of this article. To meet given set of specifications, the controller parameters are tuned through a straightforward analytic way using the dynamics of the tracking error. The proposed tuning strategy constitutes another contribution of the article. Furthermore, to evaluate the efficiency level of this procedure, an application to control an autonomous vehicle is described and the simulation results are shown to be satisfactory confirmed by a series of experimental tests.<\/jats:p>","DOI":"10.1177\/0959651819894188","type":"journal-article","created":{"date-parts":[[2020,1,27]],"date-time":"2020-01-27T09:22:11Z","timestamp":1580116931000},"page":"1060-1072","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Improved IMC-filter design and IMC-PI equivalence: Application to quadrotor under gust of wind"],"prefix":"10.1177","volume":"234","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8400-9912","authenticated-orcid":false,"given":"Yasser","family":"Bouzid","sequence":"first","affiliation":[{"name":"CSCS Laboratory, Ecole Militaire Polytechnique, Bordj El Bahri, Algeria"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Houria","family":"Siguerdidjane","sequence":"additional","affiliation":[{"name":"L2S Laboratory, Centralesupelec, Universite Paris-Saclay, Gif sur yvette, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Elmehdi","family":"Zareb","sequence":"additional","affiliation":[{"name":"EPESA Laboratory, USTO-MB, Oran and the University of Mascara, Algeria"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2020,1,27]]},"reference":[{"key":"bibr1-0959651819894188","doi-asserted-by":"crossref","unstructured":"Francis BA, Wonham WM. The internal model principle of control theory. Automatica 1976; 12(5): 457\u2013465, http:\/\/www.sciencedirect.com\/science\/article\/pii\/0005109876900066","DOI":"10.1016\/0005-1098(76)90006-6"},{"issue":"5","key":"bibr2-0959651819894188","first-page":"242","volume":"4","author":"Abhishek S","year":"2013","journal-title":"Int J Eng Trend Technol"},{"key":"bibr3-0959651819894188","doi-asserted-by":"crossref","unstructured":"Haugen F. Comparing PI tuning methods in a real benchmark temperature control system. Model Identi Contr 2010; 31(3): 79\u201391, http:\/\/www.mic-journal.no\/PDF\/2010\/MIC-2010-3-1.pdf","DOI":"10.4173\/mic.2010.3.1"},{"key":"bibr4-0959651819894188","doi-asserted-by":"crossref","unstructured":"Skogestad S. Simple analytic rules for model reduction and PID controller tuning. J Process Control 2003; 13(4): 291\u2013309, http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0959152402000628","DOI":"10.1016\/S0959-1524(02)00062-8"},{"key":"bibr5-0959651819894188","doi-asserted-by":"crossref","unstructured":"Ziegler JG, Nichols NB. Optimum settings for automatic controllers. J Dynam Syst Meas Control 1993; 115(2B): 220\u2013222, https:\/\/dynamicsystems.asmedigitalcollection.asme.org\/article.aspx?articleid=1406231","DOI":"10.1115\/1.2899060"},{"key":"bibr6-0959651819894188","volume-title":"Essentials of process control","author":"Luyben ML","year":"1997"},{"key":"bibr7-0959651819894188","volume-title":"PID controllers: theory, design and tuning","author":"Astr\u00f6m KJ","year":"1995","edition":"2"},{"key":"bibr8-0959651819894188","doi-asserted-by":"crossref","unstructured":"Shamsuzzoha M, Skogestad S, Halvorsen IJ. On-line PI controller tuning using closed-loop setpoint response. IFAC Proc Vol 2010; 43(5): 511\u2013516, http:\/\/www.sciencedirect.com\/science\/article\/pii\/S1474667016300866","DOI":"10.3182\/20100705-3-BE-2011.00085"},{"key":"bibr9-0959651819894188","doi-asserted-by":"publisher","DOI":"10.1021\/i200032a041"},{"key":"bibr10-0959651819894188","doi-asserted-by":"publisher","DOI":"10.1021\/ie9602872"},{"key":"bibr11-0959651819894188","volume-title":"Robust process control","author":"Morari M","year":"1989"},{"key":"bibr12-0959651819894188","doi-asserted-by":"crossref","unstructured":"Lakshmi Narayanan NR, Krishnaswamy PR, Rangaiah GP. An adaptive internal model control strategy for pH neutralization. Chem Eng Sci 1997; 52(18): 3067\u20133074, http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0009250997001309","DOI":"10.1016\/S0009-2509(97)00130-9"},{"key":"bibr13-0959651819894188","doi-asserted-by":"crossref","unstructured":"Mujtaba IM, Aziz N, Hussain MA. Neural network based modelling and control in batch reactor. Chem Eng Res Design 2006; 84(8): 635\u2013644, http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0263876206729422","DOI":"10.1205\/cherd.05096"},{"key":"bibr14-0959651819894188","doi-asserted-by":"publisher","DOI":"10.3724\/SP.J.1004.2008.00172"},{"key":"bibr15-0959651819894188","doi-asserted-by":"crossref","unstructured":"Fink A, Nelles O, Isermann R. Nonlinear internal model control for Miso systems based on local linear neuro-fuzzy models. IFAC Proc Vol 2002; 35(1): 303\u2013308, http:\/\/www.sciencedirect.com\/science\/article\/pii\/S1474667015393770","DOI":"10.3182\/20020721-6-ES-1901.00956"},{"key":"bibr16-0959651819894188","first-page":"140","volume-title":"IX Congreso De Ciencia Y Tecnolog\u00eda ESPE","author":"Aguilar WG"},{"key":"bibr17-0959651819894188","unstructured":"Engel J, Sturm J, Cremers D. Accurate figure flying with a quadrocopter using onboard visual and inertial sensing, 2012, https:\/\/jakobengel.github.io\/pdf\/engel12vicomor.pdf"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651819894188","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651819894188","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651819894188","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:38:56Z","timestamp":1777675136000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651819894188"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,1,27]]},"references-count":17,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2020,10]]}},"alternative-id":["10.1177\/0959651819894188"],"URL":"https:\/\/doi.org\/10.1177\/0959651819894188","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,1,27]]}}}