The design of an IMC-PID controller based on MEOTF and its application to non-square processes with time delay

摘要

It is difficult to design a controller directly for non-square multi-variable systems with timerndelay. In the current paper, we propose a new design method for an Internal Model ControlrnPID controller based on a modified effective open-loop transfer function (MEOTF) forrnnon-square processes with time delay. The MEOTF method is used to decompose therncomplex non-square process into several equivalent independent single-input/single-outputrnprocesses. Using the Taylor Particle Swarm Optimisation (Taylor–PSO) model reductionrnmethod, the MEOTF of the non-square process is approximated by a reduced order form.rnThe reduced form of the MEOTF is then used to design the Internal Model Control PIDrncontroller, which is then used for the original non-square process. To improve the robustrnstability, a first-order filter is added in the feedback loop. Finally, we present simulationrnresults showing the validity and reliability of this method. In particular, our method has arnstrong anti-interference characteristic and retains its good control performance in thernpresence of model perturbation and interference.