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.
|B||γ + τp||1|
[a] 1, . 2, PI cascaded with a lead-lag filter, .
It is interesting ...