Internal Model Control Structures Using Delta Domain Representation

Abstract

In case of sampled data, the shift operator representation is very sensitive to parameter
changes for fast sampling. In this case the use of delta models is advantageous. When controlling
plants with long dead-time, the delta representation of dead-time deteriorates its superiority. The
paper introduces a hybrid handling of control algorithms using IMC (Internal Model Control)
structure, handling the dead-time in z-domain and the model dynamics in delta domain. The
hybrid algorithms are given for dead-beat control and for Smith-predictor control.