Abstract
In the design of the PID controller, if the gain is increased to speed up the response speed, the overshoot may become large and become unstable. Conversely, if the gain is reduced to mitigate the overshoot, the response speed is slowed down and the response performance is degraded. Because of these opposed relationships, an appropriate compromise between excellent response performance and stability is necessary. In addition, a conventional PID controller with fixed parameters cannot expect excellent performance when used in a control environment different from the design conditions, and in some cases may become unstable, so a stability margin must be ensured. This paper proposes IMC-PID controller design and tuning techniques based on IMC principles. In an IMC based PID controller, the only adjustment parameter to obtain the controller
Published Version
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