IMC-PID approach: An effective way to get an analytical design of robust PID controller

In this paper, the analytical PID controller design methodology of the SISO and MIMO processes has been discussed on the basis of the IMC principle. The paper deals with two issues: firstly emphasizes on a tuning method of a SISO stable and unstable process and secondly a MIMO tuning rule. To verify the superiority of the proposed tuning method, simulation studies have been conducted on several process models. The results show that the proposed tuning method has a convincing result for wide classes of process models. The robustness analysis is also carried out by inserting a perturbation in each of the process parameters simultaneously, with the results demonstrating the better robustness of the proposed controller design with parameter uncertainty.