Abstract
A blending-PID controller uses the integral of error, eI(t) = ∫e(ξ)dξ,as the input signal to achieve zero error integral for a process operated a long enough period of time after the occurrence of a step disturbance. This article aims to derive a tuning guide for the blending-PID controllers based on the Internal Model Control (IMC) principle. Therein one tuning parameter is left for adjustment by assigning a specific value of the maximum closed-loop amplitude ratio. Several numerical examples are supplied, demonstrating the usefulness of the blending-PID controller and the proposed tuning guide.
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