Revisiting the simplified internal model control tuning rules for low-order controllers : Feedforward controller

In this work, the load disturbance rejection problem is studied. Specifically, the feedforward compensators are considered to reduce the effect of the disturbance in the process' performance. The authors propose simple tuning rules that can be easily applied to a wide range of processes improving the response against the disturbance. The improvement of the proposed method is measured through different performance indices in several simulation examples