This study proposes a modified internal model control (IMC) structure in which an additional controller is added to the standard IMC structure to improve the closed-loop system bandwidth. The resulting structure is ev...
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This study proposes a modified internal model control (IMC) structure in which an additional controller is added to the standard IMC structure to improve the closed-loop system bandwidth. The resulting structure is evaluated to satisfy standard IMC objectives of nominal performance and robust stability. The novelty of the work is to design a fractional order (FO) filter in the IMC structure so that gain margin (A(m)) and phase margin (phi(m)) specifications could be independently satisfied for a first-order plus time delay (FOPTD) process control plant. The proposed modified IMC (m-IMC) is simulated for three different FOPTD systems to validate and substantiate the theoretical analysis. The proposed m-IMC is compared with different integer order as well as FO controllers. The transient performance are compared in terms of rise time (T-r), settling time (T-s), maximum overshoot (%M-p) and the effectiveness is measured in terms of integral square error. To validate the viability of the proposed control scheme, it is implemented on a laboratory DC servo-system.
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