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

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9.7. Summary

We have shown how the IMC procedure can be used to design PID-type feedback controllers. If the process has no time delay and the inputs do not hit a constraint, then the IMC-based PID controllers will have the same performance as does IMC. If there is dead time, then the IMC-based PID controllers will not perform as well as IMC because of the Padé approximation for deadtime.

Table 9-3. PID Tuning Parameters for Unstable Processes
 gp(s)gCL(s)kcτIτDNotes[a]
Aγ 1
Bγ + τp1
Cγ 1, 2

[a] 1, . 2, PI cascaded with a lead-lag filter, .

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