References

In this textbook we have used the Control Toolbox to convert continuous-time models to discrete time models (assuming a zero-order hold). For more details on how to perform this conversion analytically, see the following textbooks:

Stephanopoulos, G., Chemical Process Control, Prentice Hall, Upper Saddle River, NJ (1984).

Seborg, D. E., T. F. Edgar, and D. A. Mellichamp, Process Dynamics and Control, Wiley, New York (1989).

The basic discrete IMC design procedure is covered (at an advanced level using different notation than in our textbook) in the following:

Zafiriou, E., and M. Morari, "Digital Controllers for SISO Systems: A Review and a New Algorithm," Int. J. Cont., 42(4), 855–876 (1985).

Morari, M., and E. Zafiriou, Robust Process Control, Prentice Hall, Englewood Cliffs, NJ (1989).