Chapter 12
• The IMC and DS methods provide satisfactory set-point responses, but very slow disturbance responses, because the value of is very large. • Fortunately, this problem can be solved in three different ways. Method 1: Integrator Approximation τI ()θ/τ 1 * Approximate ( ) by ( ) 1 where * / . Ke s K e s Gs Gs s s KK −θ−θ == τ+ τ
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