Simplified internal model control for time delay processes

In this study, a design of simplified internal model control (IMC) for time delay processes is proposed. The control system has the feedback based on the proposed compensator in the disturbance response. Although the conventional IMC does not have dead time in the characteristic equation, it has the steady state error produced by the input side disturbance for a plant with an integrator. To overcome this problem, we propose a design method for a simplified disturbance compensator.