IMC based Robust PID design: Tuning guidelines and automatic tuning

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This communication addresses the problem of tuning a PID controller for step response. The tuning is based upon a First Order Plus Time Delay (FOPTD) model and aims to achieve a step response specification while taking into account robustness considerations. The industrial ISA-PID formulation is chosen. A tuning rule is derived first where the four parameters of the ISA-PID are determined by means of two new parameters: one parameter is related to the desired closed-loop time constant and the other one to the robustness level. On a second step, these two parameters are set to a fixed value in order to get a simple and automatic rule that directly gives the controller parameters in terms of the process model parameters. The proposed automatic tuning rule is compared with other known tunings. © 2007 Elsevier Ltd. All rights reserved.
Original languageEnglish
Pages (from-to)61-70
JournalJournal of Process Control
Issue number1
Publication statusPublished - 1 Jan 2008


  • FOPTD models
  • IMC
  • Min-max optimization
  • PID tuning
  • Robustness


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