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Performance of internal model control (IMC), which is affected by the inevitable errors in the model used, can be improved by augmented IMC (AuIMC) having an additional feedback of process/model mismatch through a suitable gain. This paper presents a detailed study on real-time control of an open-loop stable single-input-single-output (SISO) nonlinear system by AuIMC. The AuIMC structure is first...
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