Abstract
A novel IMC (internal model control) PID tuning method is proposed for stable processes with time delay in the frequency domain. In the paper, the IMC controller is originally transformed into a classical feedback PID controller without approximating the time delay. The phase margin is used for an analytical approach of selecting controller parameter which is directly related to the dynamic performance and robustness of the system in IMC. The resulting analytical IMC-PID controller achieves almost the same control effect as IMC controller.
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