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Based on internal model control (IMC), we present a design method to take into account both input and output disturbances. The proposed design provides generalized IMC filters that can be used to obtain good results in terms of output sensitivity (favoring output disturbances), or in terms of input sensitivity (therefore placing the emphasis on load disturbances). If both input and output disturbances are expected, the design offers the possibility of obtaining a balance that improves the overall disturbance rejection response.

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