In the subject area of control theory, an internal model is a process that simulates the response of the system in order to estimate the outcome of a system disturbance. The internal model principle was first articulated in 1976 by B. A. Francis and W. M. Wonham as an explicit formulation of the Conant and Ashby good regulator theorem. It stands in contrast to classical control, in that the classical feedback loop fails to explicitly model the controlled system (although the classical controller may contain an implicit model).
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| - Internal Model Control (de)
- Internal model (motor control) (en)
- 內部模型 (zh)
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| - Internal Model Control(IMC) ist ein aus der Regelungstechnik, das die implizite Grundlage aller ist. Regler nach dem IMC-Prinzip enthalten ein möglichst mit dem Prozess identisches mathematisches Modell des Prozesses und ein Kompensationsglied . (de)
- 在控制理论的領域中，內部模型（internal model）也稱為內模型，是指為了估計系統擾動的影響，而去模擬系統特定輸入下反應的程序。內部模型原則（internal model principle）最早是由控制工程學者弗朗西斯（B. A. Francis）及翁漢（W. M. Wonham）所提出，是科南特（Conant）和阿什比（Ashby）提出良好調節器定理的明確描述。良好調節器定理的觀點和經典控制不同，經典控制的反馈迴路無法明確的針對控制系統建模（雖然經典控制器中多半會包括一個隐式的模型）。 在生物體的運動控制中，其內部模型原則是指運動控制是由受控體及控制器的交互影響所控制。受控體是被控制的身體部位，內部模型本身就是控制器中的一部份，來自控制器的資訊（例如來自中樞神經系統、回授資訊及感知副本等）會送到受控體，受控體再依資訊動作。 內部模型可以用前饋控制或是回授控制的方式來進行控制。前饋控制會用目前狀態以及系統模型計算輸入給系統，不會使用回饋，因此無法修正其控制的誤差。在回授控制中，會將系統的部份輸出回授給系統，因此系統可以根據實際輸出及理想輸出的誤差進行調整或是補償。目前已提出二類的內部模型：前向模型（forward model）以及逆模型（inverse model）。在模擬時，可以結合這二類的內部模型來處理複雜的運動任務。 (zh)
- In the subject area of control theory, an internal model is a process that simulates the response of the system in order to estimate the outcome of a system disturbance. The internal model principle was first articulated in 1976 by B. A. Francis and W. M. Wonham as an explicit formulation of the Conant and Ashby good regulator theorem. It stands in contrast to classical control, in that the classical feedback loop fails to explicitly model the controlled system (although the classical controller may contain an implicit model). (en)
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| - Internal Model Control(IMC) ist ein aus der Regelungstechnik, das die implizite Grundlage aller ist. Regler nach dem IMC-Prinzip enthalten ein möglichst mit dem Prozess identisches mathematisches Modell des Prozesses und ein Kompensationsglied . (de)
- In the subject area of control theory, an internal model is a process that simulates the response of the system in order to estimate the outcome of a system disturbance. The internal model principle was first articulated in 1976 by B. A. Francis and W. M. Wonham as an explicit formulation of the Conant and Ashby good regulator theorem. It stands in contrast to classical control, in that the classical feedback loop fails to explicitly model the controlled system (although the classical controller may contain an implicit model). The internal model theory of motor control argues that the motor system is controlled by the constant interactions of the “plant” and the “controller.” The plant is the body part being controlled, while the internal model itself is considered part of the controller. Information from the controller, such as information from the central nervous system (CNS), feedback information, and the efference copy, is sent to the plant which moves accordingly. Internal models can be controlled through either feed-forward or feedback control. Feed-forward control computes its input into a system using only the current state and its model of the system. It does not use feedback, so it cannot correct for errors in its control. In feedback control, some of the output of the system can be fed back into the system's input, and the system is then able to make adjustments or compensate for errors from its desired output. Two primary types of internal models have been proposed: forward models and inverse models. In simulations, models can be combined to solve more complex movement tasks. (en)
- 在控制理论的領域中，內部模型（internal model）也稱為內模型，是指為了估計系統擾動的影響，而去模擬系統特定輸入下反應的程序。內部模型原則（internal model principle）最早是由控制工程學者弗朗西斯（B. A. Francis）及翁漢（W. M. Wonham）所提出，是科南特（Conant）和阿什比（Ashby）提出良好調節器定理的明確描述。良好調節器定理的觀點和經典控制不同，經典控制的反馈迴路無法明確的針對控制系統建模（雖然經典控制器中多半會包括一個隐式的模型）。 在生物體的運動控制中，其內部模型原則是指運動控制是由受控體及控制器的交互影響所控制。受控體是被控制的身體部位，內部模型本身就是控制器中的一部份，來自控制器的資訊（例如來自中樞神經系統、回授資訊及感知副本等）會送到受控體，受控體再依資訊動作。 內部模型可以用前饋控制或是回授控制的方式來進行控制。前饋控制會用目前狀態以及系統模型計算輸入給系統，不會使用回饋，因此無法修正其控制的誤差。在回授控制中，會將系統的部份輸出回授給系統，因此系統可以根據實際輸出及理想輸出的誤差進行調整或是補償。目前已提出二類的內部模型：前向模型（forward model）以及逆模型（inverse model）。在模擬時，可以結合這二類的內部模型來處理複雜的運動任務。 (zh)
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