Abstract
This paper presents an extension of the IMC-PID tuning method. A more complex structure is adopted for the process model than in the original method, where a FOPDT (First-Order Plus Dead Time) model is used, the IMC procedure is applied, and the so obtained regulator is approximated with a (real) PID. Experimental results indicate that abandoning the FOPDT structure in the IMC approach is beneficial both in terms of performance and robustness. The selection of a more realistic model structure looks very promising for the synthesis of industrial regulators.
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