Tuning of IMC based PID controllers for integrating systems with time delay.

Area of Science:

• Control Engineering
• Process Control
• Chemical Engineering

Background:

• Integrating systems with time delay present significant control challenges.
• Existing Proportional Integral Derivative (PID) controller tuning methods often struggle to balance performance and robustness.

Purpose of the Study:

• To propose a novel PID controller design methodology.
• To effectively manage integrating systems with time delay using Internal Model Control (IMC) principles.
• To achieve a balance between system performance and robustness for both servo and regulatory control.

Main Methods:

• Design PID controllers using IMC principles for integrating systems with time delay.
• Tune PID parameters based on process model parameters and IMC filter time constant (λ).
• Select IMC filter (Q) to ensure controller order is one less than the numerator's.
• Incorporate a set-point filter to enhance servo response, mimicking a first-order plus time delay system.

Main Results:

• The proposed controller design method demonstrates applicability and effectiveness on various transfer function models and a non-linear jacketed CSTR model.
• Performance, measured by Integral Absolute Error (IAE) and Integral Time Absolute Error (ITAE), is superior to recently reported methods.
• Controller smoothness, assessed by total variation, also shows improvement over existing methods.

Conclusions:

• The proposed PID controller design based on IMC principles offers an effective solution for integrating systems with time delay.
• The method provides a good compromise between performance and robustness for servo and regulatory control.
• Simulation studies confirm the superiority and effectiveness of the proposed controllers.