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Internal model control: PID controller design
Daniel E. Rivera, Manfred Morari, and Sigurd Skogestad

Industrial & Engineering Chemistry Process Design and Development
25 (1) (January 1986), pp 252-265

Abstract

For a large number of single input-single output (SISO) models typically used in the process industries, the Internal Model Control (IMC) design procedure is shown to lead to PID controllers, occaslonally augmented with a first-order lag. These PID controllers have as their only tuning parameter the closedloop time constant or, equivalently, the closed-loop bandwidth. On-line adjustments are therefore much simpler than for general PID controllers. As a special case, PI- and PID-tuning rules for systems modeled by a first-order lag with dead time are derived analytically. The superiority of these rules in terms of both closed-loop performance and robustness is demonstrated.