The internal model principle of control theory

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Earl A. Coddington, Norman Levinson, T. Teichmann · Physics Today · 1956 · 6.3K citations

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Every good regulator of a system must be a model of that system †

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The internal model principle for linear multivariable regulators

Bruce A. Francis, W.M. Wonham · Applied Mathematics & Optimization · 1975 · 881 citations · Full text

Engineering, Systems Engineering, Dynamical Systems +13