Disturbance observer structure based internal model control for time delay systems

This paper presents a Disturbance Observer (DOB) like structure of Internal Model Control (IMC) for Single-Input-Single-Output (SISO) time delay systems. Here, a Conical Tank process which is modeled as a FOPDT (First Order Plus Delay Time) SISO system has been considered. A Modified Disturbance Observer (MDOB) concept has been used for the SISO time delay system. By using DOB like structure of IMC, set-point tracking, disturbance rejection and robustness with respect to parametric uncertainty have been evaluated using simulation.