IMC based optimal PI/PID tuning rules for inverse response plus time delay processes

Inverse response processes have unusual dynamic behavior and when process time delay is included, controller design becomes a challenging task. In the present work, robust PI/PID controllers based on Internal Model Control (IMC) theory have been designed for first and second order plus time delay inverse response processes. The single tuning parameter has been optimized using particle swarm optimization to get optimal controller settings. Proposed tuning rules yield good servo and regulatory responses for the nominal condition as compared to reported methods. Also, the proposed method exhibits good robust control performance with less control effort for model-mismatch cases.