Title: 		Emulator-Based Control and Internal Model Control:
		Complementary Approaches to Robust Control Design
Author: 	Peter J Gawthrop, Richard W. Jones & Daniel G. Sbarbaro
Keywords: 	Control system analysis; Internal model control
Abstract:
Two alternative approaches to controller design, the Internal Model
Control (IMC) of Morari and Zafiriou and the Emulator-Based Control
(EBC) of Gawthrop (based on the Generalised Minimum Variance control of
Clarke and Gawthrop) are shown to differ only superficially in approach
and notation. This result provides a link between robust control based
on IMC and self-tuning control based on EBC.