An allpass-based internal model type controller is synthesized for pattern scanning and rejection of harmonic disturbances. The numerically robust allpass filters are less susceptible to quantization error, flexible for constructing multi-tone internal model, and readily implementable in a time-varying setting.

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Related publications

• Lee, Yu-Hsiu, and Shih-Mei Su. "An all-pass based internal model principle controller for galvanometer mirror steering." Control Engineering Practice 141 (2023): 105696.63.