Embedded model control calls for disturbance modeling and rejection

► Embedded Model Control shows that a model-based control law can be kept intact under uncertainty, if controllable dynamics is complemented by a suitable disturbance dynamics. ► To be real-time updated the disturbance state is driven by an unpredictable input vector, the noise, which can be only estimated from model error. ► The uncertainty-based design concerns noise estimator. ► Separation of the model error in the frequency domain allows stability recovery and guarantee, and the rejection of the low frequency uncertainty.