IMC PID controller tuning for stable and unstable processes with time delay

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In this paper, a new internal model control (IMC) PID tuning method is proposed for stable and unstable processes with time delay. In order to implement pole zero conversion and guarantee the stability of the process, an imaginary first-order filter based on pole zero conversion is considered for the stable and unstable first order processes with time delay and a first-order lead-lag compensator is serried to PID controller for first order plus integrating and second order unstable processes with time delay. Set-point weighting is used to reduce the undesirable overshoot. The adjusting parameter can be calculated by the time constant and time delay of the processes directly, and the guidelines to calculate the coefficients have high oneness in form. Simulation works have been performed and compared with recently reported method, and the proposed tuning method gives consistently better performance and robustness for a class of processes with time delay.