Abstract
Embedded model control (EMC) methodology is applied to Web winding control problem. It allows systematically proceeding from fine plant dynamics and control requirements to the embedded model (EM) which is the core of control design and algorithms. The model defines three interconnected parts: the controllable dynamics, the disturbance class to be rejected and the neglected dynamics. Controllable and disturbance dynamics must be observable from the plant measurements. Control algorithms, to be detailed in a companion paper, are designed around the former two, while performance is bounded by the third one. EMC must not be confused with internal model control from which departs in a significant way. Just for instance unstable EM should be kept as a rule, as in the present case, and not exceptions
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