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.
Prerequisite Reading
Chapter 3, “One-Degree of Freedom Internal Model Control”
Introduction
The IMC design methods presented in Chapter 3 assume that step disturbances enter into the process output without passing through the process (i.e., pd(s) = 1) in Figure 3.1, which is reproduced in Figure 4.1.
Figure 4.1. The 1DF IMC block diagram ...
Get Techniques of Model-Based Control now with O’Reilly online learning.
O’Reilly members experience live online training, plus books, videos, and digital content from 200+ publishers.