On IMC-Based PID Tuning Using Gain-Integrator-Delay Dynamics

The Internal Model Control (IMC)-based PID tuning using integrator dynamics is an effective technique for tuning the boost pressure control system in a turbocharged gasoline engine, as investigated in a previous work by the authors. In that work, two IMC-based PID tuning approaches were delineated: one that involved a post hoc modification of initial design to achieve a desired closed-loop performance, and another that assigned a desired closed-loop bandwidth exactly. This paper extends the results of that work by introducing a third design approach employing the technique: one that assigns the desired phase margin exactly. Also, the viability of all three approaches for use with more general plants that are less similar to the boost system is investigated through Monte Carlo simulations. Finally, to illustrate their effectiveness in practice, all three design approaches are applied to a DC motor control problem.