Review on IMC-based PID Controller Design Approach with Experimental Validations

References

• L. D. Desborough, and R. M. Miller, ““Increasing customer value of industrial control performance monitoring-Honeywell’s experience,” Chem. Process Control–VI, AIChE Sympos. Ser., Vol. 326, pp. 169–89, 2002.
   Google Scholar
• A. O’Dwyer. Handbook of PI and PID controller tuning rules. 3rd ed. London: Imperial college press, 2009.
   Google Scholar
• T. Liu, and F. Gao. Industrial process identification and control design: step-test and relay-experiment based methods. London: Springer Publications, 2011.
   Google Scholar
• J. G. Ziegler, N. B. Nichols, and Y. B. Rochester, “Optimum settings for automatic controllers,” Trans. ASME, Vol. 64, no. 11, 759–65, 1942.
   Google Scholar
• D. E. Seborg, T. F. Edgar, and D. A. Mellichamp. Process dynamics and control. Singapore: Wiley Publications, 2004.
   Google Scholar
• C. E. Garcia, and M. Morari, “Internal model control. 1. A unifying review and some new results,” Ind. Eng. Chem. Process Des. Dev., Vol. 21, pp. 308–23, 1982.
   Web of Science ®Google Scholar
• M. Morari. Internal model control- Theory and applications, IFAC Instrumentation and automation in the paper, rubber, plastics and polymerization industries, Belgium. 1983.
   Google Scholar
• D. E. Rivera, M. Morari, and S. Skogestad, “Internal model control. 4. PID controller design,” Ind. Eng. Chem. Res., Vol. 25, pp. 252–65, 1986.
   Web of Science ®Google Scholar
• D. L. Laughlin, K. G. Jordan, and M. Morari, “Internal model control and process uncertainty: mapping uncertainty regions for SISO controller design,” Int. J. Control, Vol. 44, no. 6, pp. 1675–98, 1986.
   Web of Science ®Google Scholar
• I. L. Chien, “IMC–PID controller design- an extension,” IFAC Proc. Ser., Vol. 6, pp. 147–52, 1988.
   Google Scholar
• M. Morari, and E. Zafiriou. Robust process control. New Jersy: Prentice-Hall Publications, 1989.
   Google Scholar
• I. L. Chien, and P. S. Fruehauf, “Consider IMC tuning to improve controller performance,” Chem. Eng. Prog., Vol. 86, pp. 33–41, 1990.
   Web of Science ®Google Scholar
• E. Zafiriou, and M. Morari, “Internal model control: robust digital controller synthesis for multivariable open-loop stable or unstable processes,” Int. J. Control, Vol. 54, no. 3, pp. 665–704, 1991.
   Web of Science ®Google Scholar
• P. S. Fruehauf, I. L. Chien, and M. D. Lauritsen, “Simplified IMC-PID tuning rules,” ISA Trans., Vol. 33, pp. 43–59, 1994.
   Web of Science ®Google Scholar
• S. Saxena, and Y. V. Hote, “Load frequency control in power systems via internal model control scheme and model-order reduction,” IEEE Trans. Power Syst., Vol. 28, no. 3, pp. 2749–57, 2013.
   Web of Science ®Google Scholar
• I. G. Horn, J. R. Arulandu, J. G. Christopher, J. G. VanAntwerp, and R. D. Braatz, “Improved filter design in internal model control,” Ind. Eng. Chem. Res, Vol. 35, pp. 3437–41, 2011.
   Google Scholar
• S. Skogestad, “Simple analytic rules for model reduction and PID controller tuning,” J. Process Control, Vol. 13, pp. 291–309, 2003.
   Web of Science ®Google Scholar
• M. Shamsuzzoha, and M. Lee, “IMC-PID controller design for imrproved disturbance rejection of time delayed processes,” Ind. Eng. Chem. Res, Vol. 46, pp. 2077–91, 2007.
   Web of Science ®Google Scholar
• T. Liu, and F. Gao, “New insight into internal model control filter design for load disturbance rejection,” IET Control Theory Appl., Vol. 4, no. 3, pp. 448–60, 2010.
   Web of Science ®Google Scholar
• M. Shamsuzzoha. “IMC based PI/PID controller tuning rule for time delay processes,” presented at 13th International Conference on Control, Automation and Systems (ICCAS 2013) Korea, 2013.
   Google Scholar
• J. Lee, W. Cho, and T. F. Edgar, “Simple analytic PID controller tuning rules revisited,” Ind. Eng. Chem. Res, Vol. 53, pp. 5038–47, 2014.
   Web of Science ®Google Scholar
• P. V. Gopi, K. Rao, M. V. Subramanyam, and K. Satyaprasad, “Design of internal model control-proportional integral derivative controller with improved filter for disturbance rejection,” Syst. Sci. Control Eng., Vol. 2, pp. 583–92, 2014.
   Google Scholar
• Q. Wang, C. Lu, and W. Pan, “IMC PID controller tuning for stable and unstable processes with time delay,” Chem. Eng. Res. Des., Vol. 105, pp. 120–9, 2016.
   Web of Science ®Google Scholar
• S. Saxena, and Y. V. Hote, “Internal model control based PID tuning using first-order filter,” Int. J. Control Automat. Syst., Vol. 15, no. 1, pp. 149–59, 2017.
   Web of Science ®Google Scholar
• U. M. Nath, C. Dey, and R. K. Mudi, “Designing of internal model control proportional, integral, and derivative controller with second-order filtering for lag- and delay-dominating processes based on suitable dead time approximation,” Asia Pacific J. Chem. Eng., Vol. 14, no. 6, pp. e2359, 2019. doi:10.1002/apj.2359.
   Web of Science ®Google Scholar
• U. M. Nath, C. Dey, and R. K. Mudi, “Designing of IMC-PID controller for higher-order process based on model reduction method and fractional coefficient filter with real-time verification,” Chem. Product Process Model., Vol. 15, no. 3, pp. 20190089, 2020. doi:10.1515/cppm-2019-0089.
   Web of Science ®Google Scholar
• S. Saxena, and Y. V. Hote, “Advances in internal model control technique: A review and future prospects,” IETE Tech. Rev., Vol. 29, no. 6, pp. 461–72, 2012.
   Web of Science ®Google Scholar
• J. M. Vandeursen, and J. A. Peperstraete, “Internal model control with improved disturbance rejection,” Int. J. Control, Vol. 62, no. 4, pp. 983–99, 1995.
   Web of Science ®Google Scholar
• M. Shamsuzzoha, “IMC based robust PID controller tuning for disturbance rejection,” J. Cent. South Univ., Vol. 23, pp. 581–97, 2016.
   Web of Science ®Google Scholar
• R. Vilanova, O. Arrieta, and P. Ponsa, “Robust PI/PID controllers for load disturbance based on direct synthesis,” ISA Trans., Vol. 81, pp. 177–96, 2018.
   PubMed Web of Science ®Google Scholar
• S. Skogestad, “Tuning for smooth PID control with acceptable disturbance rejection,” Ind. Eng. Chem. Res, Vol. 45, pp. 7817–22, 2006.
   Web of Science ®Google Scholar
• A. Ali, and S. Majhi, “PI/PID controller design based on IMC and percentage overshoot specification to controller set point change,” ISA Trans., Vol. 48, pp. 10–15, 2009.
   PubMed Web of Science ®Google Scholar
• R. Vilanova, “IMC based robust PID design: Tuning guidelines and automatic tuning,” J. Process Control, Vol. 18, pp. 61–70, 2008.
   Web of Science ®Google Scholar
• Y. Z. Tsypkin, and U. Holmberg, “Robust stochastic control using the internal model principle and internal model control,” Int. J. Control, Vol. 61, no. 4, pp. 809–22, 1995.
   Web of Science ®Google Scholar
• H. A. Zhu, G. S. Hong, C. L. Teo, and A. N. Poo, “Internal model control with enhanced robustness,” Int. J. Syst. Sci., Vol. 26, no. 2, pp. 277–93, 1995.
   Web of Science ®Google Scholar
• Q. B. Jin, and L. Y. Liu, “Design of a robust internal model control PID controller based on linear quadratic Gaussian tuning strategy,” Can. J. Chem. Eng., Vol. 92, no. 7, pp. 1260–70, 2014.
   Web of Science ®Google Scholar
• Q. B. Jin, Q. Liu, S. Li, and Z. Wang, “IMC–PID design: analytical optimization for performance/robustness tradeoff tuning for servo/regulation mode,” Asian. J. Control., Vol. 16, no. 4, pp. 1251–61, 2014.
   Web of Science ®Google Scholar
• S. Skogestad, and C. Grimholt. The SIMC method for smooth PID controller tuning, PID control in the third Millennium, Advances in industrial control. Springer: Springer-Verlag London Limited, 2012, pp. 147–75.
   Google Scholar
• C. Grimholt, and S. Skogestad, “Optimal PI and PID control of first-order plus delay processes and evaluation of the original and improved SIMC rules,” J. Process Control, Vol. 70, pp. 36–46, 2018.
   Web of Science ®Google Scholar
• A. Zheng, M. V. Kothare, and M. Morari, “Anti-windup design for internal model control,” Int. J. Control, Vol. 60, no. 5, pp. 1015–24, 1994.
   Web of Science ®Google Scholar
• Q. G. Wang, Y. Zhang, and Y. Zhang, “A new internal model control scheme with simplified design and implementation,” Chem. Eng. Comm., Vol. 184, pp. 35–47, 2001.
   Web of Science ®Google Scholar
• C. S. Jung, H. K. Song, and J. C. Hyun, “A new direct-synthesis tuning method for PI-controllers,” Can. J. Chem. Eng., Vol. 77, no. 1, pp. 180–5, 1999.
   Web of Science ®Google Scholar
• Q. Hu, and G. P. Rangaiah, “Internal model control with feedback compensation for uncertain non-linear systems,” Int. J. Control, Vol. 74, no. 14, pp. 1456–66, 2001.
   Web of Science ®Google Scholar
• M. R. Matausek, A. D. Micic, and D. B. Dacic, “Modified internal model control approach to the design and tuning of linear digital controllers,” Int. J. Syst. Sci., Vol. 33, no. 1, pp. 67–79, 2002.
   Web of Science ®Google Scholar
• J. A. V. S. Selvi, T. K. Radhakrishnan, and S. Sundaram, “Model based IMC controller for processes with dead time,” Instrum. Sci. Technol., Vol. 34, pp. 463–74, 2006.
   Web of Science ®Google Scholar
• J. A. V. S. Selvi, T. K. Radhakrishnan, and S. Sundaram, “Performance assessment of PID and IMC tuning methods for a mixing process with time delay,” ISA Trans., Vol. 46, pp. 391–7, 2007.
   PubMed Web of Science ®Google Scholar
• R. C. Panda, “Synthesis of PID tuning rule using the desired closed-loop response,” Ind. Eng. Chem. Res, Vol. 47, pp. 8684–92, 2008.
   Web of Science ®Google Scholar
• M. Shamsuzzoha, S. Lee, and M. Lee, “Analytical design of PID controller cascaded with a lead-lag filter for time-delay processes,” Korean J. Chem. Eng., Vol. 26, no. 3, pp. 622–30, 2009.
   Web of Science ®Google Scholar
• M. Shamsuzzoha, and S. Skogestad, “The setpoint overshoot method: A simple and fast closed-loop approach for PID tuning,” J. Process Control, Vol. 20, pp. 1220–34, 2010.
   Web of Science ®Google Scholar
• D. Krishna, K. Suryanarayana, G. Aparna, and R. P. Shree, “Tuning of PID controllers for continuous stirred tank reactors,” Indian Chem. Eng., Vol. 54, no. 3, pp. 157–79, 2012.
   Google Scholar
• M. Shamsuzzoha, “Closed-loop PI/PID controller tuning for stable and integrating process with time delay,” Ind. Eng. Chem. Res, Vol. 52, pp. 12973–92, 2013.
   Web of Science ®Google Scholar
• M. Shamsuzzoha. “A unified approach of PID controller tuning for time delay processes,” presented at the 2014 American Control Conference (ACC), 2014.
   Google Scholar
• Q. B. Jin, and Q. Liu, “IMC-PID design based on model matching approach and closed-loop shaping,” ISA Trans., Vol. 53, no. 2, pp. 462–73, 2014.
   PubMed Web of Science ®Google Scholar
• S. Saxena, and Y. V. Hote, “Simple approach to design PID controller via internal model control,” Arab. J. Sci. Eng, Vol. 41, no. 9, pp. 3473–89, 2016.
   Web of Science ®Google Scholar
• H. Najafizadegan, F. Merrikh-Bayat, and A. Jalilvand, “IMC-PID controller design based on loop shaping via LMI approach,” Chem. Eng. Res. Des., Vol. 124, pp. 170–80, 2017.
   Web of Science ®Google Scholar
• C. H. Clerget, J. P. Grimaldi, M. Chebre, and N. Petit, “An example of robust internal model control under variable and uncertain delay,” J. Process Control, Vol. 60, pp. 14–23, 2017.
   Web of Science ®Google Scholar
• A. R. Pathiran, and P. Jagadeesan, “Design of internal model control dead-time compensation scheme for first order plus dead-time systems,” Can. J. Chem. Eng., Vol. 96, no. 12, pp. 2553–63, 2018.
   Web of Science ®Google Scholar
• B. Sonker, D. Kumar, and P. Samuel, “Design of two degree of freedom- internal model control configuration for load frequency control using model approximation,” Int. J. Model. Simul., Vol. 39, no. 1, pp. 27–37, 2019.
   Google Scholar
• U. M. Nath, C. Dey, and R. K. Mudi, “Desired characteristics equation based PID controller tuning for lag-dominating processes with real-time realization on level control system,” IEEE Control Systems Letters, Vol. 5, no. 4, pp. 1255–60, 2021.
   Google Scholar
• Y. Lee, J. Lee, and S. Park, “PID controller tuning for integrating and unstable processes with time delay,” Chem. Eng. Sci., Vol. 55, no. 17, pp. 3481–93, 2000.
   Web of Science ®Google Scholar
• M. Chidambaram, and R. Padma Sree, “A simple method of tuning PID controllers for integrator/dead-time processes,” Comput. Chem. Eng., Vol. 27, pp. 211–5, 2003.
   Web of Science ®Google Scholar
• I. Kaya, “Two-degree-of-freedom IMC structure and controller design for integrating processes based on gain and phase-margin specifications,” IEE Proc.-Control Theory Appl., Vol. 151, no. 4, pp. 481–7, 2004.
   Google Scholar
• J. E. Arbogast, and D. J. Cooper, “Extension of IMC tuning correlations for non-self regulating (integrating) processes,” ISA Trans., Vol. 46, pp. 303–11, 2007.
   PubMed Web of Science ®Google Scholar
• M. Shamsuzzoha, and M. Lee, “PID controller design for integrating processes with time delay,” Korean J. Chem. Eng., Vol. 25, no. 4, pp. 637–45, 2008.
   Web of Science ®Google Scholar
• M. Shamsuzzoha, and M. Lee, “Analytical design of enhanced PID filter controller for integrating and first order unstable processes with time delays,” Chem. Eng. Sci., Vol. 63, no. 10, pp. 2717–31, 2008.
   Web of Science ®Google Scholar
• A. S. Rao, V. S. R. Rao, and M. Chidambaram, “Direct synthesis-based controller design for integrating processes with time delay,” J. Franklin Inst., Vol. 346, pp. 38–56, 2009.
   Web of Science ®Google Scholar
• R. C. Panda, “Synthesis of PID controller for unstable and integrating processes,” Chem. Eng. Sci., Vol. 64, pp. 2807–16, 2009.
   Web of Science ®Google Scholar
• A. Ali, and S. Majhi, “PID controller tuning for integrating processes,” ISA Trans., Vol. 49, pp. 70–78, 2010.
   PubMed Web of Science ®Google Scholar
• C. V. N. Rao, and R. Padma Sree, “IMC based controller design for integrating systems with time delay,” Indian Chem. Eng., Vol. 52, no. 3, pp. 194–218, 2010.
   Google Scholar
• T. L. Chia, and I. Lefkowitz, “Internal model-based control for integrating processes,” ISA Trans., Vol. 49, pp. 519–27, 2010.
   PubMed Web of Science ®Google Scholar
• N. S. Pai, S. C. Chang, and C. T. Huang, “Tuning PI/PID controllers for integrating processes with dead time and inverse response by simple calculations,” J. Process Control, Vol. 20, pp. 726–33, 2010.
   Web of Science ®Google Scholar
• T. Tao Liu, and F. Gao, “Enhanced IMC design of load disturbance rejection for integrating and unstable processes with slow dynamics,” ISA Trans., Vol. 50, pp. 239–48, 2011.
   PubMed Web of Science ®Google Scholar
• Q. B. Jin, and Q. Liu, “Analytical IMC-PID design in terms of performance/robustness tradeoff for integrating processes: from 2-Dof to 1-Dof,” J. Process Control, Vol. 24, pp. 22–32, 2014.
   Web of Science ®Google Scholar
• B. Vanavil, A. V. N. L. Anusha, M. Perumalsamy, and A. S. Rao, “Enhanced IMC-PID controller design with lead-lag filter for unstable and integrating processes with time delay,” Chem. Eng. Comm, Vol. 201, pp. 1468–96, 2014.
   Web of Science ®Google Scholar
• C. Anil, and R. Padma Sree, “Tuning of PID controllers for integrating systems using direct synthesis method,” ISA Trans., Vol. 57, pp. 211–9, 2015.
   PubMed Web of Science ®Google Scholar
• C. Anil, and R. Padma Sree, “PID control of integrating systems using multiple dominant pole placement method,” Asia Pacific J. Chem. Eng., Vol. 10, pp. 734–42, 2015.
   Web of Science ®Google Scholar
• D. B. S. Kumar, and R. Padma Sree, “Tuning of IMC based PID controllers for integrating systems with time delay,” ISA Trans., Vol. 63, pp. 242–55, 2016.
   PubMed Web of Science ®Google Scholar
• K. G. Begum, A. S. Rao, and T. K. Radhakrishnan, “Enhanced IMC based PID controller design for non-minimum phase (NMP) integrating processes with time delays,” ISA Trans., Vol. 68, pp. 223–34, 2017.
   PubMed Web of Science ®Google Scholar
• U. M. Nath, C. Dey, and R. K. Mudi, “Stabilized IMC-PI controller designing for IPDT processes based on gain and phase margin criteria,” IFAC-PapersOnLine, Vol. 53, no. 1, pp. 129–34, 2020.
   Google Scholar
• X. P. Yang, Q. G. Wang, C. C. Hang, and C. Lin, “IMC-based control system design for unstable processes,” Ind. Eng. Chem. Res, Vol. 41, no. 17, pp. 4288–94, 2002.
   Web of Science ®Google Scholar
• W. Tan, H. J. Marquez, and T. Chen, “IMC design for unstable processes with time delays,” J. Process Control, Vol. 13, pp. 203–213, 2003.
   Web of Science ®Google Scholar
• A. S. Rao, and M. Chidabaram, “Control of unstable processes with two RHP Poles, a zero and time delay,” Asia Pac. J. Chem. Eng., Vol. 1, pp. 63–69, 2006.
   Web of Science ®Google Scholar
• A. A. Nasution, J. C. Jeng, and H. P. Huang, “Optimal H2 IMC-PID controller with set-point weighting for time delayed unstable processes,” Ind. Eng. Chem. Res, Vol. 50, pp. 4567–78, 2011.
   Web of Science ®Google Scholar
• M. Shamsuzzoha, M. Skliar, and M. Lee, “Design of IMC filter for PID control strategy of open-loop unstable processes with time delay,” Asia Pacific J. Chem. Eng., Vol. 7, pp. 93–110, 2012.
   Web of Science ®Google Scholar
• B. Vanavil, K. K. C. Chaitanya, and A. S. Rao, “Improved PID controller design for unstable time delay processes based on direct synthesis method and maximum sensitivity,” Int. J. Syst. Sci., Vol. 46, no. 8, pp. 1349–66, 2015.
   Web of Science ®Google Scholar
• K. G. Begum, A. S. Rao, and T. K. Radhakrishnan, “Maximum sensitivity based analytical tuning rules for PID controllers for unstable dead time processes,” Chem. Eng. Res. Des., Vol. 109, pp. 593–606, 2016.
   Web of Science ®Google Scholar
• I. Poblubny, “Fractional-order system and PIλDμ controllers,” IEEE Trans. Automat. Control., Vol. 44, no. 1, pp. 208–14, 1999.
   Web of Science ®Google Scholar
• D. Valerio, and J. S. DaCosta, “Tuning of fractional PID controllers with Ziegler–Nichols-type rules,” Signal Process.., Vol. 86, pp. 2771–84, 2006.
   Web of Science ®Google Scholar
• Y. Luo, Y. Q. Chen, C. Y. Wang, and Y. G. Pi, “Tuning fractional order proportional integral controllers for fractional order systems,” J. Process Control, Vol. 20, pp. 823–31, 2010.
   Web of Science ®Google Scholar
• R. E. Khazali, “Fractional-order PIλDμ controller design,” Comput. Math. Appl., Vol. 66, pp. 639–46, 2013.
   Web of Science ®Google Scholar
• T. Vinopraba, N. Sivakumaran, and S. Narayanan. “IMC based fractional order PID controller,” presented at 2011 IEEE International Conference on Industrial Technology, USA, 2011.
   Google Scholar
• T. Vinopraba, N. Sivakumaran, S. Narayanan, and T. K. Radhakrishnan, “Design of internal model control based fractional order PID controller,” J. Control Theory Appl., Vol. 10, no. 3, pp. 297–302, 2012.
   Google Scholar
• M. T. Kakhki, and M. Haeri, “Fractional order model reduction approach based on retention of the dominant dynamics: application in IMC based tuning of FOPI and FOPID controllers,” ISA Trans., Vol. 50, pp. 432–42, 2011.
   PubMed Web of Science ®Google Scholar
• M. Bettayeb, and R. Mansouri, “Fractional IMC-PID-filter controllers design for non integer order systems,” J. Process Control, Vol. 24, pp. 261–71, 2014.
   Web of Science ®Google Scholar
• B. Maamar, and M. Rachid, “IMC-PID-fractional-order-filter controllers design for integer order systems,” ISA Trans., Vol. 53, pp. 1620–8, 2014.
   PubMed Web of Science ®Google Scholar
• D. Li, L. Liu, Q. Jin, and K. Hirasawa, “Maximum sensitivity based fractional IMC–PID controller design for non-integer order system with time delay,” J. Process Control, Vol. 31, pp. 17–29, 2015.
   Web of Science ®Google Scholar
• C. I. Muresan, A. Dutta, E. H. Dulf, Z. Pinar, A. Maxim, and C. M. Ionescu, “Tuning algorithms for fractional order internal model controllers for time delay processes,” Int. J. Control, Vol. 89, no. 3, pp. 579–93, 2016.
   Web of Science ®Google Scholar
• R. Ranganayakulu, G. U. B. Babu, and A. S. Rao, “Fractional filter IMC-PID controller design for second order plus time delay processes,” Cogent Eng., Vol. 4, no. 1, pp. 1366888, 2017.
   Web of Science ®Google Scholar
• S. Saxena, “Load frequency control strategy via fractional-order controller and reduced-order modeling,” Int. J. Electr. Power Energy Syst., Vol. 104, pp. 603–14, 2019.
   Web of Science ®Google Scholar
• S. Saxena, and Y. V. Hote, “Design and validation of fractional-order control scheme for DC servomotor via internal model control approach,” IETE Tech. Rev., Vol. 36, no. 1, pp. 49–60, 2019.
   Web of Science ®Google Scholar
• A. Datta, and J. Ochoa, “Adaptive internal model control: design and stability analysis,” Automatica, Vol. 32, no. 2, pp. 261–6, 1996.
   Web of Science ®Google Scholar
• A. Datta, and L. Xing, “Adaptive internal model control: H∞ optimization for stable plants,” IEEE Trans. Autom. Control, Vol. 44, no. 11, pp. 2130–4, 1999.
   Web of Science ®Google Scholar
• G. J. Silva, and A. Datta, “Adaptive internal model control: The discrete-time case,” J. Adapt. Control Signal Process., Vol. 15, no. 1, pp. 15–36, 2001.
   Web of Science ®Google Scholar
• M. Shafiq, “Internal model control structure using adaptive inverse control strategy,” ISA Trans., Vol. 44, pp. 353–62, 2005.
   PubMed Web of Science ®Google Scholar
• D. Rupp, and L. Guzzella, “Adaptive internal model control with application to fueling control,” Control. Eng. Pract., Vol. 18, no. 8, pp. 873–81, 2010.
   Web of Science ®Google Scholar
• D. Rupp, and L. Guzzella, “Iterative tuning of internal model controllers with application to air/fuel ratio control,” IEEE Trans. Control Syst. Technol., Vol. 18, no. 1, pp. 177–84, 2010.
   Web of Science ®Google Scholar
• M. Benosman, “Model-based vs data-driven adaptive control: An overview,” Int. J. Adaptive Control Signal Process, Vol. 32, pp. 753–76, 2018.
   Google Scholar
• U. M. Nath, C. Dey, and R. K. Mudi. Fuzzy-tuned SIMC controller for level control loop, Lecture Notes in Networks and Systems, Singapore: Springer, vol. 11, pp. 239–45, 2018.
   Google Scholar
• U. M. Nath, C. Dey, and R. K. Mudi, “Fuzzy tuned model based control for level and temperature processes,” Microsyst. Technol., Vol. 25, no. 3, pp. 819–27, 2019.
   Web of Science ®Google Scholar
• U. M. Nath, C. Dey, and R. K. Mudi, “Fuzzy rule-based auto-tuned internal model controller for real-time experimentation on temperature and level processes,” Int. J. Automation and Control, Vol. 14, no. 2, pp. 239–56, 2020.
   Web of Science ®Google Scholar
• U. M. Nath, C. Dey, and R. K. Mudi, “A switching IMC-PID controller design for lag dominating processes with real-time validaton,” Methatronic Syst. Control, Vol. 48, no. 3, pp. 171–182, 2020.
   Web of Science ®Google Scholar
• U. M. Nath, C. Dey, and R. K. Mudi, “Designing of fuzzy rule based switching mechanism for IMC controller for temperature controlling process,” Procedia. Comput. Sci., Vol. 167, pp. 171–82, 2020.
   Google Scholar
• Q. B. Jin, L. Zhao, F. Hao, and S. W. Liu, “Design of a multivariable internal model controller based on singular value decomposition,” Can. J. Chem. Eng., Vol. 91, no. 6, pp. 1103–14, 2013.
   Web of Science ®Google Scholar
• Q. B. Jin, and L. Y. Liu, “An internal model controller design procedure for multivariable system based on the double-decomposition,” Can. J. Chem. Eng., Vol. 92, no. 7, pp. 1225–38, 2014.
   Web of Science ®Google Scholar
• J. Garrido, F. Vázquez, and F. Morilla, “Inverted decoupling internal model control for square stable multivariable time delay systems,” J. Process Control, Vol. 24, pp. 1710–9, 2014.
   Web of Science ®Google Scholar
• Q. Jin, X. Du, Q. Wang, and L. Liu, “Analytical design 2 DOF IMC control based on inverted decoupling for non-square systems with time delay,” Can. J. Chem. Eng, Vol. 94, pp. 1354–67, 2016.
   Web of Science ®Google Scholar
• M. Hamdy, and A. Ramadan, “Design of smith predictor and fuzzy decoupling for MIMO chemical processes with time delays,” Asian. J. Control., Vol. 19, no. 1, pp. 57–66, 2017.
   Web of Science ®Google Scholar
• A. R. Pathiran, and P. Jagadeesan, “Model based multivariable control scheme in a reset configuration,” Can. J. Chem. Eng., Vol. 96, no. 6, pp. 1317–26, 2018.
   Web of Science ®Google Scholar
• Q. Jin, X. Du, and B. Jiang, “Novel centralized IMC-PID controller design for multivariable processes with multiple time delays,” Ind. Eng. Chem. Res, Vol. 56, no. 15, pp. 4431–45, 2017.
   Web of Science ®Google Scholar
• M. Hamdy, A. Ramadan, and B. Abozalam, “Comparative study of different decoupling schemes for TITO binary distillation column via PI controller,” IEEE/CAA J. Automatica Sinica, Vol. 5, no. 4, pp. 869–77, 2018.
   Google Scholar
• T. Chekari, R. Mansouri, and M. Bettayeb, “Improved IMC-PID-fractional-order multiloop controller design for non integer order multivariable systems,” J. Dyn. Sys., Meas., Control., Vol. 141, no. 1, pp. 011014, 2018.
   Web of Science ®Google Scholar
• D. Li, X. He, T. Song, and Q. Jin, “Fractional order IMC controller design for two-input-two-output fractional order system,” Int. J. Control, Autom. Syst., Vol. 17, no. 4, pp. 936–47, 2019.
   Web of Science ®Google Scholar
• W. Tan, “Unified tuning of PID load frequency controller for power systems via IMC,” IEEE Trans. Power Syst., Vol. 25, no. 1, pp. 341–50, 2010.
   Web of Science ®Google Scholar
• S. Saxena, and Y. V. Hote. “Dimensionality reduction based IMC-PI tuning for DC servomotor,” In: 2016 Indian Control Conference, pp. 461–466, 2016.
   Google Scholar
• S. Ahmad, and A. Ali, “Unified disturbance estimation based control and equivalence with IMC, PID: case study on a DC-DC boost converter,” IEEE Trans. Ind. Electron., 2020. doi:10.1109/TIE.2020.2987269.
   PubMed Web of Science ®Google Scholar
• R. De. Keyser, and C. Muresan. “Internal model control: efficient disturbance rejection for dead-time process models with validation on an active suspension system” presented at 2020 European Control Conference, Russia, 2020.
   Google Scholar
• User manual: Modular servo systems, Feedback Instruments Ltd., East Sussex, UK, 2012.
   Google Scholar
• User manual: QUBE- Servo 2, Quanser, Canada, 2016.
   Google Scholar
• User manual: Coupled Tank control experiments- 33-230, Feedback Instruments Ltd., East Sussex, UK, 2010.
   Google Scholar
• K. R. Sundaresan, and R. R. Krishnaswamy, “Estimation of time delay, time constant parameters in time, frequency, and laplace domains,” Can. J. Chem. Eng., Vol. 56, pp. 257–62, 1978.
   Web of Science ®Google Scholar