Chapter 4. Two-Degree of Freedom Internal Model Control
Objectives of the Chapter
Introduce the two-degree of freedom (2DF) IMC system and elucidate its advantages over 1DF IMC when step disturbances enter through process lags.
Provide design methods for 2DF IMC systems with perfect models that give the best possible performance consistent with noisy measurements for inherently stable and inherently unstable processes.
Chapter 3, “One-Degree of Freedom Internal Model Control”