IMC Tuning rules Controller P rocess y G -1° Ifg=g.e= d for all u If G=l and gmt is an inverse of gn, d canceled perfectly The controller GGGIMC Tuning Rules If Gm = Gp , e = d for all u. If Gf = 1 and Gm + is an inverse of Gp , d canceled perfectly. f m m f m c G G G G G G     1 The controller