1. Single Variable Internal Model Control (IMC)
Structure of IMC
Properties of IMC
Design Procedure for stable, MP systems
Design with RHP zeros

2. IMC Control System

3. Feedback form of IMC

4. Closed loop transfer fns

5. Controller Design
Perfect Model:
Controller :

6. Ex. FOPDT Process

7. Step Response

8. Design for Processes with No RHP Zeros

9. A Higher Order Process

10. Approximate Inverse

11. : Controller Design for Processes with Right Half Plane Zeros

12. Controller Design

13. Process With RHP Zero

14. Step Response

15. Simpler inverses

17. R

18. R

19. R

20. R

21. R

22. R

23. R

24. R

25. R

26. R

27. R

28. R