IMC-PID Controller Designing Using Laurent Series and Comparison with Other Methods

The Internal model control (IMC) method is grounded in an assumed process model andleads to analytic expressions for the controller settings. An advantages of IMC structure are it compensates disturbance and model uncertainty also provide safer performance for large delay time systems. In this paper IMC-PID controller is aimed for the stable SISO system by means of Laurent series expansion and using a Pade approximation and compared with the other PID tuning methods also various process models are tested for set point change and disturbance change. At the end controller performance and robustness also discussed.