IMC-PID controller tuning from closed-loop setpoint response

The proposed IMC-PID tuning method is extension of the recently published setpoint overshoot method (2010). It is one step procedure to obtain the PI/PID setting which gives the better performance and robustness. The method requires one closed-loop step setpoint response experiment using a proportional only controller with gain K
_c0
. Based on simulations for a range of first-order with delay processes, simple correlations have been derived to give PI/PID.filter controller settings. The controller gain (K
_c
/K
_c0
) is only a function of the overshoot observed in the setpoint experiment. The controller integral and derivative time (τ
_I
and τ
_D
) is mainly a function of the time to reach the first peak (t
_p
). The proposed tuning method shows better performance than the setpoint overshoot method (2010) for broad range of processes.