Amulti-loopadaptiveinternalmodelcontrol(IMC)strategybasedonadynamicpartialleastsquares(PLS)frame-workisproposedtoaccountforplantmodelerrorscausedbyslowaging,driftinoperationalconditions,orenvironmentalchanges.SincePLSdecompositionstructureenablesmulti-loopcontrollerdesignwithinlatentspaces,amultivariableadaptivecontrolschemecanbeconvertedeasilyintoseveralindependentunivariablecontrolloopsinthePLSspace.Ineachlatentsubspace,oncethemodelerrorexceedsaspecificthreshold,onlineadaptationrulesareimplementedseparatelytocorrecttheplantmodelmismatchviaarecursiveleastsquares(RLS)algorithm.BecausetheIMCextractstheinverseoftheminimumpartoftheinternalmodelasitsstructure,theIMCcontrollerisself-tunedbyexplicitlyupdatingtheparameters,whicharepartsoftheinternalmodel.Bothparameterconvergenceandsystemstabilityarebrieflyanalyzed,andprovedtobeeffective.Finally,theproposedcontrolschemeistestedandevaluatedusingawidely-usedbenchmarkofamulti-inputmulti-output(MIMO)systemwithpuredelay.
