In this paper, a two-degree-of-freedom level control scheme for delay free processes is analyzed. The nominal performance and robustness are examined. And sufficient and necessary conditions for robust stability are derived. An alternative level control scheme is developed for processes with dead time and suboptimal controllers that can produce smooth response are derived analytically based on the internal model control. The scheme has an important feature in that it is simple and transparent in design and in the corporation of performance and robust stability issues. Numerical examples are provided to compare the proposed scheme with those developed.
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