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These In this paper, the control of the pneumatic actuator using Dahlin algorithm is proposed. Dahlin algorithm has problem which cause a steady-state error by an input-side disturbance for an integrator plant with time delay. In addition, it has problem which not ensure follow-up to a response model by parameter error of controller. To solve these problems, we introduce discrete-time IMC and iterative least squares technique. Our proposed method can remove a steady-state error caused by andoi:10.7763/ijmo.2013.v3.244 fatcat:w6rqoarx5japdblyprxpmqjb74