10.8 Feed-Forward Control in the IMC Structure

Feed-forward control can also be implemented with an IMC structure, as shown in Figure 10-16, where we have neglected the measurement dynamics for clarity. The feed-forward control design is

Equation 10.20

Again, noninvertible elements of q_f(s) must be removed before the feed-forward controller can be implemented.

The closed-loop transfer relationship (the derivation is left as an exercise for the reader) is