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// Design of internal model controller
// 10.4
// 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] = imc_stable1(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;
endfunction;
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