Abstract
The selection of filter plays an important role in internal model control (IMC) based controller design. As per the rule, for a minimum-phase delay free plant, IMC based controller is obtained by augmenting a filter. We suggest the use of first-order filter for controller design, which is then parameterized to a conventional PID controller. The proposed scheme brings filter size reduction, closed-loop bandwidth enhancement, and easy formulation of the PID structure. The proposed scheme is applied to some class of linear and nonlinear processes. Further the hardware testing for velocity control of precision modular servo system which contains DC servomotor is carried out through this scheme. Quantitative comparison of servo, regulatory and optimal attributes of the proposed scheme with other popular IMC-PID control techniques depicts sharp reference tracking, good disturbance rejection and minimum integral error performance.
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Recommended by Associate Editor Do Wan Kim under the direction of Editor Yoshito Ohta.
Sahaj Saxena received the B. Tech. degree in electronics engineering from Kamla Nehru Institute of Technology, Uttar Pradesh, India, in 2010. He has completed the M. Tech. degree in electrical engineering from Indian Institute of Technology (I.I.T.) Roorkee, India in 2012. He is currently pursuing a Ph.D. in the department of electrical engineering, I.I.T. Roorkee. His research interests include robust control theory with applications to DC motors and analog circuits and systems.
Yogesh V. Hote received the B.E. degree in electrical engineering from Government College of Engineering, Amravati, in 1998. He completed the M.E. degree in control systems, from Government College of Engineering, Pune, in 2000. He received his Ph.D. degree in instrumentation and control engineering from University of Delhi in 2009. He is currently working as Associate Professor in the department of electrical engineering, I.I.T. Roorkee. His field of research includes robust control, robotics, numerical analysis and power electronics.
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Saxena, S., Hote, Y.V. Internal model control based PID tuning using first-order filter. Int. J. Control Autom. Syst. 15, 149–159 (2017). https://doi.org/10.1007/s12555-015-0115-y
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DOI: https://doi.org/10.1007/s12555-015-0115-y