IMC based tuning of set-point weighting

Industrial PID control is a more powerful formulation of the standard PID controller with both proportional gain and derivative gain related set-point weightings. These weightings provide additional flexibility for shaping the input-output response of the system. This contribution investigates IMC-based tuning of the proportional gain set-point weight of the industrial PID controller. This will be achieved by using the equivalence of the industrial PID controller structure to two-degree of freedom (2DOF) process control structures: the PID-P and PI-PD 2DOF control structures. This contribution assumes that a second-order plus time-delay (SOPTD) model of the underlying plant is available for control design.