PID tuning ----IMC(Internal Mode Control) method

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xiao
xiao 2014-2-21
Excuse me, guys, I am studying PID lectures, When it comes to the Internal Mode Control part. I have learnt it theoretically but when applying on Simulink, I don't know how to use this theory! Could anyone show me how to tuning a PID using IMC way plzzz, For example, the system to be controlled is:
G(s)=k/(tau*s+1)* e^(-ds)----a first order lag-plus-deadtime model.
thank you so much.

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