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Process Control: Modeling, Design, and Simulation by B. Wayne Bequette

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M13.3. SISO Control

The IMC-based PID procedure was used to design the xD-L (loop 1) and xB-V (loop 2) controllers, in each case assuming the “other loop” was open. Time delays were neglected in the control system design, resulting in PI controllers

A first-order closed-loop response is achieved for each of these controllers operated independently (only one loop closed at a time). The reader should verify, through simulation of the independent controllers, that IMC filter factors of 25 minutes lead to closed-loop time constants of roughly 25 minutes (see Additional Exercise 2).

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