國立臺灣師範大學機電工程學系Lu, Yu-Sheng2014-10-302014-10-302010-05-011063-6536http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/37055This paper presents an internal model control (IMC) design for lightly-damped systems subject to periodic exogenous signals. For such systems, the conventional design of the so-called IMC filter in the IMC structure can result in oscillatory behavior even when the closed-loop transfer function is designed to be well damped. To circumvent this problem, several band-pass filters are incorporated into the IMC filter based on knowledge of the frequencies of the plant's resonance modes and exogenous signals. The track-following system of an optical disk drive is employed to illustrate the design of the proposed IMC filter. Experimental results confirm the effectiveness of the proposed design.Bandpass filterscontrol systemsinternal model controllightly damped systemsoptical disk drivesperiodic exogenous signals