Revisiting the simplified IMC tuning rules for low-order controllers: Novel 2DoF feedback controller

• Published in: IET control theory & applications Vol. 14; no. 13; pp. 1700 - 1710
• Main Authors: Rodríguez, Carlos, Aranda-Escolástico, Ernesto, Guzmán, José Luis, Berenguel, Manuel, Hägglund, Tore
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 03.09.2020
• Subjects: continuous‐time low‐order controllers; Control Engineering; control system synthesis; delays; desired maximum sensitivity value; direct synthesis tuning method; Electrical Engineering, Electronic Engineering, Information Engineering; Elektroteknik och elektronik; Engineering and Technology; feedback; frequency‐domain synthesis; integrating load disturbances; Novel 2DoF feedback controller; PID controllers; recently reported methods; Reglerteknik; Research Article; robust control; servo response; servomechanisms; setpoint prefilter; simpler analytical tuning rules; simplified IMC tuning rules; stability; step disturbance compensation; Teknik; three‐term control; time‐delayed single‐input single‐output processes; tuning; step disturbance compensation; three-term control; direct synthesis tuning method; PID controllers; tuning; recently reported methods; continuous-time low-order controllers; control system synthesis; setpoint prefilter; frequency-domain synthesis; servomechanisms; simplified IMC tuning rules; Novel 2DoF feedback controller; feedback; time-delayed single-input single-output processes; delays; integrating load disturbances; robust control; desired maximum sensitivity value; stability; servo response; simpler analytical tuning rules
• ISSN: 1751-8644; 1751-8652; 1751-8652
• DOI: 10.1049/iet-cta.2019.0821

This paper revisites the direct synthesis tuning method of continuous-time low-order controllers, and specially PID controllers, for control of time-delayed single-input single-output processes. A setpoint prefilter is included to improve the servo response and integrating load disturbances are accounted for. Robustness is addressed by the feedback controller to obtain the desired maximum sensitivity value. Similar results in step disturbance compensation are obtained with simpler analytical tuning rules when compared to recently reported methods. However, the proposed procedure enables to compensate integrating load disturbances, which are not handled in the other methods.