Chapter 7. Tuning and Synthesis of 1DF IMC for Uncertain Processes

Objectives of the Chapter

  • Introduce the concept of process uncertainty and explore its effect on IMC system stability and performance.

  • Present a tuning method for adjusting the IMC filter time constant that accomplishes a desired relative stability for all processes in a predefined uncertainty set.

  • Explore the effect of uncertainty on controller design and model selection.

Prerequisite Reading

Chapter 3, “One-Degree of Freedom Internal Model Control”

Appendix A, “Review of Basic Concepts”

Appendix B, “Frequency Response Analysis”


Chapter 3 discusses the design and tuning of a linear IMC controller when the linear model used in the IMC system is assumed to be a perfect representation ...

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