SOME THEORETICAL INSIGHTS INTO RECENT CONTROL DESIGN ALGORITHMS

Abstract

Abstract Internal Model Control (IMC) design procedure is known to offer valuable advantages over classical control methods, especially for robust controller design. The Perfect Controller is defined using the well-known classical PID algorithm and its equivalence to IMC. After the definition of the Perfect Controller the IMC filter tuning parameter, which is used to maintain robustness, is obtained as a result of reparametrization of the classical PID control algorithm and factorization of the model. Through factorization, invertible part of the model is used directly in defining the perfect controller and the noninvertibility effects of the model are lumped into the new IMC tuning parameter. Closed loop IMC controller design is obtained with appropriate plant parameter uncertainty representation. Theoretical foundation for the transition from classical PID design to IMC design is analyzed using simple common chemical process models.