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+// Design of conventional controller which is an equivalent of internal model controller
+// 10.9
+
+// Designs Discrete Internal Model Controller
+// for transfer function z^{-k}B(z^{-1})/A(z^{-1})
+// Numerator and Denominator of IMC HQ are outputs
+// Controller is also given in R,S form 
+
+
+function [k,HiN,HiD,R,S,mu] = imc_stable(B,A,k,alpha)
+
+[Kp,d,Bg,Bnmp,Bm] = imcsplit(B,mtlb_logical(1));
+Bg = Kp * Bg;
+
+Bnmpr = flip(Bnmp);
+Bms = sum(Bm);
+HiN = A;
+HiD = Bms * convol(Bg,Bnmpr);
+k = k+d;
+
+[zk,dzk] = zpowk(k);
+Bf = (1-alpha);
+Af = [1 -alpha];
+S = convol(Bf,A);
+R1 = convol(Af,convol(Bnmpr,Bms));
+R2 = convol(zk,convol(Bf,convol(Bnmp,Bm)));
+
+[R,dR] = poladd(R1,length(R1)-1,-R2,length(R2)-1);
+R = convol(Bg,R);
+endfunction;
+