Chapter 7
Model-Based Control
In this chapter, we provide an introduction to model-based techniques, using the direct synthesis approach, followed by a more general technique known as internal model control (IMC). We then show that IMC can often be rearranged to be equivalent to a proportional-integral-derivative (PID) controller.
After studying this chapter, the reader should be able to
Derive controllers based on a process model and desired closed-loop response.
Factor a model into invertible and non-invertible elements.
Form an internal model controller from the invertible part of the model and a low-order transfer function.
Design and implement IMC-based PID.
The major sections of this chapter are as follows:
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