Question: Internal Model Control (IMC) structure Derive the transfer function from R(s) to Y(s) Derive the transfer function from D(s) to Y(s) Figure 1. Internal Model

Internal Model Control (IMC) structure

Internal Model Control (IMC) structure Derive the transfer function from R(s) to

Derive the transfer function from R(s) to Y(s)

Derive the transfer function from D(s) to Y(s)

Figure 1. Internal Model Control. D(S) Gd(s) R(S) Y(S) + Gc(s) Gp(s) Gm(s)

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