A New Tuning Method for Two-Degree-of-Freedom Internal Model Control under Parametric Uncertainty

Juwari Purwo sutikno; Badhrulhisham Abdul aziz; Chin Sim yee; Rosbi Mamat

doi:10.1016/S1004-9541(13)60564-9

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A New Tuning Method for Two-Degree-of-Freedom Internal Model Control under Parametric Uncertainty

过程系统工程与过程安全 | Updated：2026-01-06

- A New Tuning Method for Two-Degree-of-Freedom Internal Model Control under Parametric Uncertainty
- Chinese Journal of Chemical Engineering Vol. 21, Issue 9, Pages: 1030-10371004-954160564-9(2013)
- Affiliations：
  
  1. 2 Process Design and Control Laboratory, Chemical Engineering Department, Institut Teknologi Sepuluh Nopember Surabaya, Kampus ITS Sukolilo, Surabaya,Indonesia,60111
  2. 3 Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai,Johor,Malaysia,81310
- Author bio：
- Funds：
- DOI：10.1016/S1004-9541(13)60564-9
  CLC：
- Published：2013
- Accepted：
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Juwari Purwo sutikno, Badhrulhisham Abdul aziz, Chin Sim yee, Rosbi Mamat. A New Tuning Method for Two-Degree-of-Freedom Internal Model Control under Parametric Uncertainty[J]. Chin.J.Chem.Eng., 2013, 21(9): 1030-1037.
DOI：

Juwari Purwo sutikno, Badhrulhisham Abdul aziz, Chin Sim yee, Rosbi Mamat. A New Tuning Method for Two-Degree-of-Freedom Internal Model Control under Parametric Uncertainty[J]. Chin.J.Chem.Eng., 2013, 21(9): 1030-1037. DOI： 10.1016/S1004-9541(13)60564-9.

摘要

Abstract

Internal model control (IMC) yields very good performance for set point tracking

but gives sluggish response for disturbance rejection problem. A two-degree-of-freedom IMC (2DOF-IMC) has been developed to overcome the weakness. However

the setting of parameter becomes a complicated matter if there is an uncertainty model. The present study proposes a new tuning method for the controller. The proposed tuning method consists of three steps. Firstly

the worst case of the model uncertainty is determined. Secondly

the parameter of set point controller using maximum peak (Mp) criteria is specified

and finally

the parameter of the disturbance rejection controller using gain margin (GM) criteria is obtained. The proposed method is denoted as Mp-GM tuning method. The effectiveness of Mp-GM tuning method has evaluated and compared with IMC-controller tuning program (IMCTUNE) as bench mark. The evaluation and comparison have been done through the simulation on a number of first order plus dead time (FOPDT) and higher order processes. The FOPDT process tested includes processes with controllability ratio in the range 0.7 to 2.5. The higher processes include second order with underdamped and third order with nonminimum phase processes. Although the two of higher order processes are considered as difficult processes

the proposed Mp-GM tuning method are able to obtain the good controller parameter even under process uncertainties.

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