Novel IMC-PID controller design and parameter tuning with improving control performance for the SOPTD processes

In process industry, aiming to deal with the second order plus time delay (SOPTD) processes, especially the large time delay processes, this paper introduces mainly a novel proportional-integral-derivative (PID) controller based on the internal model control (IMC) theory and proposes the relative parameter tuning rules. Then, the explicit analytical results are obtained to make controller parameters be tuned easily and reduce uncertainty and complexity of parameter tuning. The proposed control approach is tested and verified by simulation examples and compared to several traditional PID methods in different conditions. The results show the main features and benefits of the proposed approach, which can achieve better control performances and good robustness.