REAL TIME IMPLEMENTATION OF ROBUST CONTROLLER BASED TUNING FOR DESIRED CLOSED-LOOP RESPONSE FOR SI/SO SYSTEMS

Abstract

In this article, the IMC-PID approach is generalized to obtain the PID parameters for general models by approximating the ideal controller with a Maclaurin series in the Laplace variable. It turns out that the PID parameters so obtained provide some what better closed-loop responses than those obtained by PID controller tuned by other methods. Further all of the PID parameters depend on the desired closed-loop time constant in a manner consistent with engineering intuition. The effectiveness of the PID controllers tuned by the proposed tuning method will be validated both by simulation studies and real time implementation.