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Performance between controllers by internal model and pi- incremental in a second order plant

Abstract:

This paper presents the methodology for the development of PI-Incremental and Control Controllers by Internal Model (IMC) from the plant transfer function. In the first controller, it is analyzed based on the root locus (LGR) to find the proportional and integral constants; on the other hand, for the IMC it is reduced to find a single parameter (λ). In the implementation of the controllers, the found models were discretized to take them to differential equations to program the algorithm corresponding to each controller. Afterwards, the two designs are compared and it is observed that the BMI presents an establishment time of less than 5 seconds and the PI controller an approximate time of 15 seconds; considering that both regulators do not generate overshoot. Finally, the performance evaluation of the controllers is done through the integral criterion of the error square (ISE).