Using Internal Model Control Strategy


Thread Starter


Dear Members,

I hope you are doing well. I have run into a problem. I am trying to design an Internal Model Control based controller for the following process.
Gp = -10(-3s+1)(-s+1)e-4s/(12s+1)(3s+1)(3s+1)

I approximated the dead time using first order Taylor expansion. Then I removed the 'bad parts' and added a filter parameter to make the function semiproper. However, since I am getting a cubic equation in the numerator of the controller transfer function, I cannot break it down into P I and D form to get the P, I and D parameters. I would really appreciate all the help I can get.

Yasushi Baba

Try this;

P = -0.06
I = 16
D = 2.5

Note that I am using ISA standard PID format.
I used my own simulation program.