Table of IMC-based PID Controller Settings_(Seborg_et al.)
Handouts: Concise review of process dynamics - Continuous linear models State Space and Transfer Function
Handouts: Feedback controller tuning methods: Direct Synthesis (DS) and Internal Model Control (IMC)
Notes on Feedback PID Control (English)
Handouts: Multivariable Multiloop Control Systems (MIMO) (Carla Pinheiro)