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Process Control: Modeling, Design, and Simulation by B. Wayne Bequette

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10.8. Feed-Forward Control in the IMC Structure

Feed-forward control can also be implemented with an IMC structure, as shown in Figure 10-16, where we have neglected the measurement dynamics for clarity. The feed-forward control design is

Equation 10.20

Figure 10-16. Feed-forward control in the IMC structure.

Again, noninvertible elements of qf(s) must be removed before the feed-forward controller can be implemented.

The closed-loop transfer relationship (the derivation is left as an exercise for the reader) is

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