Chapter 3. One-Degree of Freedom Internal Model Control

Objectives of the Chapter

  • Present the one-degree of freedom (1DF) Internal Model Control (IMC) structure and describe its properties.

  • Provide design methods for 1DF IMC systems with perfect models that give the best possible performance consistent with noisy measurements for inherently stable processes.

Prerequisite Reading

Chapter 2,“Continuous-Time Models”

Appendix A, “Review of Basic Concepts”

Appendix B, “Frequency Response Analysis”


This chapter introduces methods for designing feedback controllers to force the output of an inherently stable process to (1) respond in a desired manner to a setpoint change, and (2) counter the effects of disturbances that enter directly into the process ...

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