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.
gp(s) | gCL(s) | kc | τI | τD | Notes[a] | |
---|---|---|---|---|---|---|
A | γ | 1 | ||||
B | γ + τp | 1 | ||||
C | γ | 1, 2 |
[a] 1, . 2, PI cascaded with a lead-lag filter, .
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