Aplicação da sintonia IMC no controlador PID em sistemas não-lineares simulados com ScicosLab

In the process industry the loop problem is how to choose a suitable set of PID parameters because of their influence on the asymptotic stability of the system. This paper develops a PID control algorithm based on Internal Model Control (IMC) design for linear and nonlinear control systems in the discrete-time domain under satisfactory performance. Compared with traditional feedback controllers, IMC can indicate the relationship between tuning parameters to the closed-loop dynamic and robustness and guaranteed control performance. Validation results against linear and nonlinear physical plant models are convincing, with excellent closed-loop responses and good robustness in the presence of practical constraints, time-varying parameters and disturbances.