Design of two degree of freedom PID controller for temperature control system

In every process industry two important aspects are there, first one is the set-point tracking and another one is the disturbance rejection. But practically these two aspects conflict with each other and cannot be fulfilled by the one degree of freedom (1DOF) PID controller. So this problem can be solved by using two degree of freedom (2DOF) PID controller. Here in this paper we have tuned 2DOF PID controller by using different PID tuning techniques and the performance of the tuning methods are analyzed on the basis of time domain response specifications. By using the best tuning technique i.e. CHR 2DOF PID controller is tuned for temperature control laboratory set-up.