Arun R. Pathiran∗ and Mulushewa Getachew∗
Internal model control, lambda tuning, PID control, IMC-PIDtuning
Among various control schemes, the internal model control (IMC) scheme is widely accepted as one of the robust controllers. The paper reports on the robustness and performance of the IMC system. The simulation analysis showed that the performance can be tuned whereas the robustness cannot be changed in minimum phase processes. Moreover, robustness is a function of the order of the system. Mostly, the internal model controller is approximated into the proportional integral derivative (PID) controller and is being used widely. The robustness and performance of the IMC scheme are compared to those of the IMC-PID scheme. The robustness and performance can be tuned for the IMC-PID scheme whereas robustness is constant for the IMC scheme for the minimum phase processes.
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