Evaluation of an Internal Model Control extension for efficient disturbance rejection

This paper introduces an extension of the Internal Model Control algorithm for efficient disturbance rejection. The approach is based on ideas from model based predictive control and diophantine equation derivation. As an illustration of the power of the extension, an example from the process industry is borrowed, namely a drum boiler. The process is challenging for control since it has an integrator and non-minimum phase dynamics. The performance of the proposed extension is compared against nominal IMC design and PID. The simulation results suggest that the proposed algorithm outperforms the other implementations in terms of effective disturbance rejections.