Revisiting some practical issues in the implementation of model-free control

This paper simplifies several aspects of the practical implementation of the newly introduced model-freecontrol and of the corresponding intelligentPID controllers (M. Fliess, C. Join, “Model-free control and intelligent PID controllers: towards a possible trivialization of nonlinear control?,” 15thIFAC Symp. System Identif, Saint-Malo, 2009). Four examples with their computer simulations permit to test our techniques.