Discrete Modified Internal Model Control Using PFC for the Plants with a Time Delay

In this paper, a design method of discrete modified Internal Model Control (IMC) with parallel feedforward compensator (PFC) is proposed. Introducing PFC and a predictor as a plant model, we designed a control system with superior performance. In the simulation study, it is shown that the proposed method has a superior performance in a load disturbance response and robustness compared with the conventional IMC. Moreover, if there is a load disturbance in the input or output side of the plant, in either case, the proposed control system is not affected by it.