Improved Fractional Filter IMC-PID Controller Design for SISO and MIMO Processes

An IMC-PID controller with a fractional order filter and smith predictor design method based on two degrees of freedom is proposed in this paper. It is proposed to eliminate the analytical computation of a conventional fractional order PID controller for both Single Input and Single Output (SISO) and Multiple Input-Multiple Output (MIMO) systems with time delays and to enhance the processes' steady state and transient responses. The control loops' interactions are regarded as disturbances. As a result, in order to lessen the impact of coupling between control loops, the two degrees of freedom control scheme that is utilized for mono-variable systems to guarantee disturbance rejection is extended to multivariable systems. A set-point controller is calculated using the proposed controller design method, which requires selecting the control pairing with the fewest interactions. For each loop, a suitable complementary sensitivity function is used to calculate an interactions reduction effect controller. In relation to the desired closed loop specifications for each loop, the controller design approach that has been proposed is both straightforward and methodical.