% Designs Discrete Internal Model Controller
% for transfer function z^{-k}B(z^{-1})/A(z^{-1})
% Numerator and Denominator of IMC HQ are outputs
% Controller is also given in R,S form 
% Kannan Moudgalya, April 2004
% 
function [k,HiN,HiD] = imc_stable1(B,A,k,alpha)

[Kp,d,Bg,Bnmp,Bm] = imcsplit(B,logical(1));
Bg = Kp * Bg;
Bnmpr = flip(Bnmp);
Bms = sum(Bm);
HiN = A;
HiD = Bms * conv(Bg,Bnmpr);
k = k+d;