Abstract: During the internal model control in the existence of great difference between real model and internal model,the adjustment of filter coefficient for controller parameter determination may result in the decrease of system 's response speed.In order to solve this problem,an internal model control method on the basis of virtual reference feedback tuning (VRFT) is proposed,and the identification of the process model as well as the design of the internal model controller is implemented simultaneously.Firstly,the connection between internal model control and VRFT is established.Then,an internal model controller is designed on the basis of VRFT,and a specific expression of the reasonable filter is derived.Finally,the parameters of the controller and the internal model are optimized by using the designed filter,which makes the designed controller structure accords with the given ideal transfer function well.Simulated results show that,though the proposed method presents a control effect similar to the traditional controller design method,the former is more effective thanks to its faster response and higher tracking performance.

Key words: internal model control, internal model, filter, virtual reference feedback tuning, optimization