IMC Based Controller Design for Integrating Systems with Time Delay

Design of proportional integral and derivative (PID) controllers based on internal model control (IMC) principles for integrating systems with time delay is proposed in the present work. The transfer function models considered in the present work include pure integrator with dead time, double integrating system with time delay, stable and unstable first order plus time delay (FOPTD) system with integrator. The performance of the proposed IMC PID controller is compared with the recently reported methods. The robustness of the proposed controller for uncertainty in model parameters is evaluated considering one parameter at a time. The stability region for all model parameters is evaluated using Kharitonov's theorem for various transfer function models and compared with recently reported methods.