Cascade Control for a Class of Process with Integrator and Time Delay

Integrated with performance of disturbance rejection, a new cascade control program is proposed for integrating and delay process based on modified internal model control. Because the set-point tracking and disturbance rejection in the secondary control loop exercise influence on performance of primary loop simultaneously, they are decoupled completely and can be adjusted independently. It realizes two-degree-of-freedom control in the primary loop, and on the basis of stabilizing the integrating process, the controller in the primary loop is devised using the method of minimum sensitivity, which guarantees not only the nominal performance but also the robust stability of the system. Finally, simulations example demonstrates the validity of the proposed control scheme.