Abstract
The features of internal model control (IMC) design based on the first order anisochronic model are investigated in this paper. The structure of the anisochronic model is chosen in order to fit both the dominant pole and the dominant zero of the system dynamics being approximated. Thanks to its fairly plain structure, the model is suitable for use in IMC design. However, use of the anisochronic model in IMC design may result in so-called neutral dynamics of the closed loop. This phenomenon is studied in this paper via analysing the spectra of the closed loop system.
Highlights
Internal model control (IMC) is a well-known control design method in the field of control engineering, see [1, 2]
The strategy of internal model control (IMC) design is based on knowledge of the system model that is involved in the control loop
The motivation for using the PID controller as the final control algorithm is given by the convention (PID algorithm is available in most programmable controllers)
Summary
Internal model control (IMC) is a well-known control design method in the field of control engineering, see [1, 2]. Thanks to progress in the hardware and software equipment of programmable controllers, it is not beyond the scope of a reasonable effort to implement (to program) the algorithm resulting from the IMC design on a programmable controller For this purpose, the task is to search for a model of the lowest possible order to obtain an applicable control algorithm. If the system involves time lags, distributed parameters or transport phenomena (note that such phenomena can be encountered, e.g., in heat transfer, chemical and biological processes) the order of the model resulting from the classical approach is as a rule high In such applications, it is advantageous to use the anisochronic modelling approach based on involving time delays in the linear model. Analysing the closed loop spectrum, we investigate the features of the closed loop dynamics with the IMC controller derived from the anisochronic plant model
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