Integer and Non-Integer Filter Design with IMC PD Controller for a First Order Delay Integrating Process

Abstract

In this work, the control of first order delay integrating process (FODIP) is considered for study. Integrating processes are difficult to control due to the presence of a pole at origin. PD controller could be preferred in such cases for control of the processes. To improve the servo response and disturbance rejection, PD controller alone is not enough, hence Internal Model Control (IMC) structure is used for deriving PD controller parameters. The time delay in the process transfer function is an important factor to be considered when designing a controller and need a proper approximation. First order taylor series and pade approximations are considered for this work. The superiority of fractional theory in control area is also a motivation for this research work to design a non-integer controller. Hence, integer and non integer filter with IMC PD controller is derived using first order taylor series and pade approximations. Simulation study is done using Matlab/Simulink and the results show the improved performance indices of the designed controller.