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Internal model controllers (IMCs) are popular strategies for controlling stable systems with dead time. The relocated IMC (RIMC) design reportedly achieves the expected performance-robustness tradeoff for stable processes. Hence, an attempt has been made in this work to modify the RIMC (as a bi-loop RIMC proportional-derivative (RIMC-PD)) strategy to make it applicable to a class of unstable and integrating systems involving dead time. The secondary-loop stabilisation is achieved with a PD controller constructed by Routh stability constraints. The primary loop contains a RIMC controller for reference following. Both primary, as well as secondary-loop controller parameters, are optimally tuned in the search space using the equilibrium optimiser subjected to minimal integral square error. The RIMC-PD control strategy delivers reasonable enhancement in performance measures when compared with some of the recently reported strategies. A robust stability investigation is also carried out. Finally, experimental verification of the RIMC-PD strategy is carried out using a magnetic levitation laboratory setup.

Experimentally verified optimal bi-loop re-located IMC strategy for unstable and integrating systems with dead time