Improved internal model control based on optimal control for servo system with dead time

This paper describes an improved internal model control based on PID control for servo system with dead time. The internal model control works for more stability of disturbance. The proposed system uses the feedback based on internal model control and PID control when the disturbance occurs. The proposed method can be applied to not only servo stable plant with dead time but also unstable plant with dead time. It can be applicable to both simulation and actual DC motor control. The proposed method has good robustness compared with general PID design method.