An Internal Model Control Approach to Mid-Ranging Control

Existing tuning rules for mid-ranging control can be improved. In this paper a novel strategy for mid-ranging control based on Internal Model Control (IMC) principles is presented. The design reformulates mid-ranging control specifications in terms of classical bandwidth and sensitivity requirements. The performance of this design is demonstrated through simulation studies. The overall benefits of the IMC design are that it provides transparent and flexible tuning, and that it offers a natural framework for anti-windup. Both classical IMC and modified IMC structures are considered for anti-windup. Their performance during saturation is demonstrated through simulation studies, where minimal degradation is observed.