The widely published internal model control (IMC) proportional-integral-derivative (PID) tuning rules provide poor load disturbance suppression for processes in which the desired closed-loop dynamics is significantly faster than the open-loop dynamics. The IMC filter is modified to derive low-order controllers that provide effective disturbance suppression irrespective of the location at which the disturbances enter the closed-loop system.
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Horn et al. (1996) studied this question.
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