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In this paper an Internal Model Control (IMC) based proportional-integral-derivative (PID) control is presented and evaluated on the benchmark system presented at the 3 rd IFAC Conference on Advances in Proportional-Integral-Derivative Control (PID 18). The controller is designed based on the model of the benchmark system. Its performance is compared with a computer-aided design tool based on frequency response (FRtool) and against the benchmark reference controller. The results show that the proposed method has a better performance due to the fact that IMC based PID parameters depend totally on the model.

IMC based PID Control Applied to the Benchmark PID18