Performance and Robustness Improvement in the IMC-PID Tuning Method

This manuscript presents an extension of the IMC-PID tuning method. A higher order structure is adopted for the process model than in the original method, where a FOPDT (First-Order Plus Dead Time) model is used. Then, the general IMC procedure is applied, and the so obtained regulator is approximated with a (real) PID. Simulations and experimental results indicate that abandoning the FOPDT structure in the IMC approach is beneficial both in terms of performance and robustness.