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Weighted sensitivity IMC PID tuning a b s t r a c t This article presents an H ∞ design that alleviates some difficulties with standard Internal Model Control (IMC), while still obeying the same spirit of simplicity. The controller derivation is carried out analytically based on a weighted sensitivity formulation. The corresponding frequency weight, chosen(More)
— A design approach for Two-Degree-of-Freedom (2-DOF) PID controllers within a cascade control configuration that guarantees smooth control is presented in this paper. The rationale of operation associated to both, the inner and outer controllers, determines the need of good performance for disturbance attenuation (regulation) as well as set-point following(More)
In this paper a data-driven methodology based on the Virtual Reference Feedback Tuning is presented for the tuning of Internal Model Controllers. A data based test is presented to check the robust stability of the controller in the loop, taking advantage of the control structure. Two different examples are shown where the presented method successfully(More)
This paper presents a formulation for the inclusion of the second degree of freedom for MIMO system for decoupling purposes. The proposal is specially effective when combined with decentralized feedback controllers. Loop interaction is of the major problems in the control of MIMO systems, as interaction can be considered as a disturbance coming from all(More)