The widely published internal model control (IMC)
proportional-integral-derivative (PID) tuning
rules provide poor load disturbance suppression for processes in which
the desired closed-loop
dynamics is significantly faster than the open-loop dynamics. The
IMC filter is modified to
derive low-order controllers that provide effective disturbance
suppression irrespective of the
location at which the disturbances enter the closed-loop
system.
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