9.1. Background
As we show in this chapter, the IMC structure can be rearranged to the standard feedback structure.
Question: Why do we care about IMC, if we can show that it can be rearranged into the standard feedback (PID) structure?
Answer: Because the process model is explicitly used in the control-system design procedure. The standard feedback structure uses the process model in an implicit fashion; that is, PID tuning parameters are often “tweaked” based on a transfer function model, but it is not always clear how the process model affects the tuning decision. In the IMC formulation, the controller, q(s), is based directly on the “good” part of the process transfer function. The IMC formulation generally results in only one tuning parameter, ...
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