IMC (internal model control) structure with connect command
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Hi I want to implement the IMC structure as shown in the picture below. I was wondering if the following code is correct ? Because it seems that it's not. Thanks
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/164845/image.jpeg)
P = tf([1],[1 1]); P.InputName = 'u'; P.OutputName = 'y';
M = tf([1],[1 1]); M.InputName = 'u'; M.OutputName = 'ym';
Q = tf([1 1],[2 1]); Q.InputName = 'e'; Q.OutputName = 'u';
Sum1 = sumblk('d = y - ym'); Sum2 = sumblk('e = r - d');
T = connect(Q,M,P,Sum1,Sum2,'r','y');
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