To meet the requirements of strong anti-disturbance and anti-model error and fast response to track moving targets
for the photoelectric tracking system on the moving bed, a robust internal model controller(RIMC) is designed. The structure
of RIMC is designed by adding a local feedback loop based on IMC which is used to estimate the disturb and model error.
The robustness of RIMC to the model error and disturb are analyzed in detail. Compared with PI controller, simulation and
experimental results show that the disturbance rejection performance is improved more than 10 dB within 28 Hz in a broad
bandwith by adopting RIMC.