Design of internal model control-proportional integral derivative controller with improved filter for disturbance rejection

Abstract

The internal model control (IMC) proportional integral derivative (PID) controller tuning rules provide an excellent tracking of set-point, but sluggish disturbance rejection, as the conventional IMC filter introduces slow process pole. Disturbance rejection is significant than set-point tracking in many industrial applications. This paper proposes the design of IMC-PID controller, cascaded with lead-lag filter, with an improved IMC filter to provide effective disturbance rejection and robust operation of the first-order processes (FOPs). The simulation study was conducted to show the effectiveness of the proposed method on various structures of the FOPs, calculating the controller parameters, maintaining similar robustness in terms of maximum sensitivity M S . Perturbations were incorporated in the parameters of the plant model simultaneously, for the robustness analysis of the controller. The closed-loop performance was evaluated with the integral error criteria, namely, integral absolute error, integral square error, and integral time absolute error. The proposed IMC filter provided good disturbance rejection. The results of recently published design methods were compared with that obtained from the proposed method, validating the usefulness of the proposed method.

Optimised PID control for tilting trains

“…controllers are a popular simple classical type of controllers used in a large number of industrial applications (Chen, Yuan, Yuan, Huang, Li, & Li, 2015;Diba, Arora, & Esmailzadeh, 2014;Gopi Krishna Rao, Subramanyam, & Satyaprasad, 2014;Quevedo & Escobet, 2000;Rocco, 1996) including some simple quarter-car suspension systems (Hanafi, 2010;Popovic, Jankovic, & Vasic, 2000;Talib & Darns, 2013). It is of no surprise that it also forms the simplest conventional controller for the tilting active control application, as it offers both the integral action required to force zero effective cant deficiency on steady-curve and the proportional/derivative action to limit phase lag at higher frequencies (compared to the crossover frequency).…”

Robust Design of PID Controller Using IMC Technique for Integrating Process Based on Maximum Sensitivity

“…The closed-loop performance is evaluated for load disturbance/setpoint using integral absolute error (IAE) (Shamsuzzoha and Lee 2008a; Gopi Krishna Rao et al 2014a;Stephanopoulos 1984). IAE is defined as (Gopi Krishna Rao et al 2014a, b;Stephanopoulos 1984)…”

“…Good servo (setpoint) operation is achieved with PID controllers designed based on IMC principle, but they provide poor regulator (disturbance) operation. The design of a controller, which has emphasis of disturbance rejection than servo operation, is an important design feature (Morari and Zafiriou 1989;Shamsuzzoha and Lee 2008b;Gopi Krishna Rao et al 2014a;Paul et al 2012;Seborg et al 2004). This can be accomplished by designing the controller for regulator (disturbance) response, rather than setpoint tracking (Gopi Krishna Rao et al 2014a).…”

“…The design of a controller, which has emphasis of disturbance rejection than servo operation, is an important design feature (Morari and Zafiriou 1989;Shamsuzzoha and Lee 2008b;Gopi Krishna Rao et al 2014a;Paul et al 2012;Seborg et al 2004). This can be accomplished by designing the controller for regulator (disturbance) response, rather than setpoint tracking (Gopi Krishna Rao et al 2014a). PID controller with a lead/lag filter was suggested in the literature (Shamsuzzoha and Lee 2008a;Vanavil et al 2013;Morari and Zafiriou 1989;Shamsuzzoha andLee 2007, 2008b;Rivera et al 1986;Horn et al 1996;Gopi Krishna Rao et al 2014a, b;Lee et al 1998;O'Dwyer 2006) for disturbance rejection.…”

“…The effectiveness of IMC tuning rules for setpoint and disturbance, and the derived PID controller attracted the attention of the control engineers and industries in the last decade (Shamsuzzoha andLee 2007, 2008b). The PID controller tuned with IMC tuning rules provides a clear compromise between robustness and performance to model mismatches, and it is accomplished with only one tuning parameter λ (Lee et al 2008;Saxena and Hote 2012;Shamsuzzoha andLee 2007, 2008b;Rivera et al 1986;Horn et al 1996;Gopi Krishna Rao et al 2014a). The PID controller design for IPDT based on IMC principle was first proposed by Chien and Fruehauf (1990) for closed-loop performance.…”