International Conference on Control, Automation and Systems 2008

Oct. 14-17, 2008 in COEX, Seoul, Korea

IMCPID Approach: An Effective Way to Get an Analytical Design of Robust PID Controller
Moonyong Lee*, M. Shamsuzzoha, Truong Nguyen Luan Vu
School of Display & Chemical Engineering, Yeungnam University, Gyeongsan, 712-749, Korea
(Tel.:+82-53-810-2512; E-mails: mynlee@yu.ac.kr, smzoha2002@hotmail.com,tnluanv@tymail.ac.kr)
Abstract: In this paper, the analytical PID controller design methodology of the SISO and MIMO processes has been
discussed on the basis of the IMC principle. The paper deals with two issues: firstly emphasizes on a tuning method of a
SISO stable and unstable process and secondly a MIMO tuning rule. To verify the superiority of the proposed tuning
method, simulation studies have been conducted on several process models. The results show that the proposed tuning
method has a convincing result for wide classes of process models. The robustness analysis is also carried out by
inserting a perturbation in each of the process parameters simultaneously, with the results demonstrating the better
robustness of the proposed controller design with parameter uncertainty.
Keywords: PID controller, SISO, MIMO, Stable Process, Unstable process, PID cascaded with lead lag filter

1. INTRODUCTION
It is a remarkable fact that the vast majority of chemical
processes are well-controlled with a PID algorithm or
one of its simpler forms like PID with lead lag filter,
mainly because they can assure satisfactory
performances with simple algorithm for a wide range of
processes. It is important to notice that the cost/benefit
ratio obtained through the PID controller is difficult to
achieve by other controllers. Although a number of
advanced control techniques can provide significant
improvements, a well designed PID controller has
proved to be satisfactory for most industrial control
loops.
To find a simple design method of a PID type controller
with significant performance improvement has become
an important research issue for process control engineers.
Due to the simplicity and improved performance of the
internal model control (IMC)-based tuning rule, the
analytically derived IMCPID tuning methods have
attracted the attention of industrial users over the last
decade. The IMCPID tuning rule has only one user
defined tuning parameter, which is directly related to the
closedloop time constant. The IMCPID tuning and the
direct synthesis (DS) approaches are two examples of
typical tuning methods based on achieving a desired
closedloop response. These methods obtain the PID
controller parameters by computing the controller which
gives the desired closedloop response. Although this
controller is often more complicated than a standard PID
controller, its form can be reduced to that of either a PID
controller or a PID cascaded with a loworder lag filter
by some clever approximations of the dead time in the
process model.
Rivera et al. [1], Morari and Zafiriou [2] had
analytically derived the IMC-PI/PID tuning for several
single input-single output (SISO) models typically used
in the process industries. Chien and Fruehauf, [3]
extended the IMC-PID tuning rule for several classes of
processes model with time delay. In fact, regarding the
disturbance rejection for lag time dominant processes,
the well-known old design method by Ziegler and

Nichols (ZN) [4] shows better performance than the

IMC-PID design methods based on the IMC
filter f = 1 ( s + 1)r . Horn et al. [5] proposed a new type
of IMC filter which includes a lead term to cancel out
the process dominant poles. Based on this filter the
performance of the resulting controller showed a clear
advantage over those on the basis of the conventional
IMC filter. Chen and Seborg [6] proposed a direct
synthesis design method to improve disturbance
rejection for several popular process models. Lee et al.
[7] proposed an IMC-PID controller based on both
conventional filter and the filter suggested by Horn et al.
[5]. Further, Lee et al. [8] extended the tuning method
to unstable processes such as the first- and second-order
delayed unstable process (FODUP and SODUP) models.
It is important to notice that the IMC-PID tuning rules
demonstrate a good set-point tracking but a sluggish
disturbance rejection, which becomes severe when a
process has a small time-delay/time-constant ratio.
Shamsuzzoha and Lee [9] have proposed an optimal
IMC filter structure for several representative process
models to design a PID controller that produces an
improved disturbance rejection response. It is clear that
in the IMC-PID approach, the performance of a PID
controller is mainly determined by the IMC filter
structure. In most previous works of IMC-PID design,
the IMC filter structure has been designed just as simple
as to satisfy a necessary performance of the IMC
controller. They also proposed the method [10] for two
representative integrating processes with time delay.
Further, it is extended to integrating processes with
negative and positive zero as well.
The existing modern control hardware provides
microprocessor implementation for a flexible
combination of conventional control algorithms to
achieve enhanced control performance. A PID
controller in series with a leadlag compensator is a
typical example. The main reason for using such
controller is to provide improved performance without
tribulation. Several authors [2,5,7-9,11-13] have

2861

proposed this type of control strategy, as described in

Eq. 1 below.

1 + as
1
(1)
G = K 1+
+ s
c

Is

1 + bs

An analytical tuning method for the PID controller

cascaded with a lead/lag filter has been proposed for
FOPDT processes based on the IMC design principle
[11]. The method is further extended for the integrating
and first order unstable processes with time delay [12].
The design algorithm is based on the IMC criterion,
which has a single tuning parameter to adjust the
performance and robustness of the controller.

Fig. 1. Block diagram of IMC and feedback control.

Recently, a design method [13] for a PID cascaded with
a lead-lag filter is proposed for enhanced disturbance
rejection of the second-order stable and unstable
processes with time delay. An ideal feedback controller
equivalent to IMC is obtained through the IMC design
principle, and is further simplified to the PID cascaded
with a lead-lag filter. The simulation is conducted for a
broad class of stable and unstable processes and the
results are compared with those of recently published
PID type controllers. Liu et al. [14] have proposed
IMC-PID and high order controller for several types of
unstable processes.

r +

Gc1
0

#
0

0 " 0
Gc2

% #
0 " Gcn

G c

G11 G12 " G1n

G21 G22
#

G2n
%

this condition is often too conservative. The fully crosscoupled PID control system, the multivariable PID
controller parameters can be identified by the least
squares fit technique, was introduced by Wang et al.
[16]. This method gives good output response of control
system. However, it is complicated in the
implementation. The simple method to design multiloop IMC controller is the extension of single-input,
single-output (SISO) IMC-PID controller to the MIMO
case in straightforward manner. Lee et al. [17] proposed
the multi-loop PID controller that derived from the
generalized IMC-PID approach for SISO systems. At
low frequency, the proportional and derivative terms are
designed as SISO case because they have been
dominant at high frequency, the integral term can be
obtained systematically while all interactions taking into
account. For disturbance rejection, Truong and Lee [18]
proposed the new method of multi-loop PI controllers
that can be utilized in the decentralized control system
easily. Moreover, this method can give a satisfactory
load change as well as servo performance in MIMO
systems. To enhance the robustness and performance of
control system, Truong and Lee [19] considered a
frequency domain performance criterion that is defined
by the maximum magnitude of the closed-loop
frequency response (Mp) and proposed an IMC-based
PID design method. The magnitude of sensitivity (Ms)
theory was also used to design the decentralized
controller for complex MIMO systems which contain a
lot of noises and disturbances [20].
The effectiveness of the proposed IMC-based PID
control systems is demonstrated by a number of
illustrative examples in term of performance and
robustness for both SISO and MIMO systems.

2. DESIGN PROCEDURE
Figure 1 shows the block diagrams of IMC control
structure and equivalent classical feedback, where GP is
the process, G P the process model, q the IMC
controller. In the IMC control structure, the controlled
variable is related as:

(2)
GP q
1 G P q

Gn1 Gn2 " Gnn

Gp

y=

Fig. 2. Block diagram for multi-loop control system.

In the decentralized control systems, the IMC approach
is also one of the best design schemes in the advanced
process control because it can be considered to design
the multi-loop PID control system with several
uncertainty models and tradeoffs between robustness
and performance. In addition, the multi-loop PID
controller parameters are the function of a design
parameter of closed-loop time constant. The value of
this design parameter is directly related to the
robustness of multiple-input, multiple-output (MIMO)
system. Because of its advantages, several multi-loop
IMC-based PID tuning rules are available in the open
literature of process control. Economou and Morari [15]
presented the sufficient stability conditions for the
multi-loop IMC control system with the stable filter but

1 + q GP G P

fRr +

1 + q GP G P

GD d

For the nominal case (i.e., GP = G P ), the set-point and

disturbance responses are simplified to:
y
= GP qf R
r
y
= 1 G P q GD
d

(3)
(4)

According to the IMC parameterization (Morari and

Zafiriou [2]), the process model G p is decomposed into
two parts:
G P = PM PA

(5)
where PM and PA are the portions of the model inverted
and not inverted, respectively, by the controller ( PA is
usually a non-minimum phase and contains dead times
and/or right half plane zeros); PA ( 0 ) = 1 .

2862

The IMC controller is designed by:

q = PM-1 f

(6)

2.1 Unstable Processes/Stable Processes with Poles

near Zero
To get a superior response for unstable processes or
stable processes with poles near zero, the IMC controller
q should satisfy following conditions.
If the process G p has unstable poles or poles near zero at
(i) q should have zeros at z1 , z2 ,", zm
(ii) 1 G p q should also have zeros at z1 , z2 ,", zm
Since the IMC controller q is designed as q = pm1 f , the
first condition is satisfied automatically because pm1 is
the inverse of the model portion with the unstable poles
or poles near zero. The second condition can be fulfilled
by designing the IMC filter f as:
im=1 i s i + 1
( s + 1) r

(7)

where is an adjustable parameter which controls the

tradeoff between the performance and robustness, r is
selected to be large enough to make the IMC controller
(semi)proper, and i is determined by Eq. 8 to cancel
the unstable poles or poles near zero in G p .
1 Gpq

p A ( im=1 i s i + 1)
( s + 1) r

= 1

s = z1 ," z m

(8)

=0
s = z1 ,", zm

Then, the IMC controller is described as:

q = pm1

( im=1 i s i + 1)
( s + 1) r

(9)

The ideal feedback controller that is equivalent to the

IMC controller can be expressed in terms of the internal
model G p and the IMC controller q :
Gc =

(10)

q
1 G p q

Substituting Eqs. 7 and 9 into 10 gives the ideal

feedback controller:
( im=1 i s i + 1)
( s + 1) r
p A ( im=1 i s i + 1)

(11)

pm1
Gc =
1

( s + 1)

( 1 s

+ 1 )( 2 s + 1 )

The analytical PID formula can be obtained by above

procedure and given in detail [13]
(13)
1
2
KC =

(4

12 1
1 =

+ 1 )

I = 1;

D =

1
2
2
1 ( 2 ) 1
1
e
e
1

( 2 1 )

(14b)

Regarding the classification of the process model to deal

with the proposed design method, the unstable processes
that do not have the form of Eq. 13 can be easily
transformed to the form of Eq. 13 by adjusting their sign
for controller design and details is provided in
Shamsuzzoha and Lee [13].

Consider the multi-loop feedback system with nn open

loop stable process Gp(s) and the multi-loop controller
with diagonal elements only G c ( s ) as shown in Fig. 2.
The closed loop transfer function matrix H(s) for the
multi-loop system can be presented as follows:
(15)
 ( s ) ) G ( s )G
 (s)
H ( s ) = ( I + G ( s )G
1

(14a)

The multivariable process G p ( s ) and the multi-loop

 ( s ) can be expressed in
controller with integral term G
c
a Maclaurin series, respectively, as follows:
(16)
Gp (s) = G0 + G1s + G2s2 + O(s3 )
 (s) = 1 G
 +G
 s +G
 s2 + O(s3 )
G
c
c0
c1
c2

(17)

where G0 = Gp (0); G1 = Gp '(0); G2 = Gp "(0)/2 ; G c 0 , G c1 ,G c 2

can be considered as the integral, proportional, and
derivative terms of the multi-loop PID controller,
respectively. As indicated from Eq. 16, the impact of
proportional and derivative terms (i.e., G c1 , G c 2 ) becomes
more predominant at high frequencies and thus they
should be designed based on the process characteristics
at high frequencies. On the other hands, the integral term
 is dominating at low frequencies and thus needs to
G
c0
be designed based on the characteristics at low
frequencies.
Substituting Eqs. 16 and 17 into Eq. 15, one can get a
Maclaurin series in s for the closed loop transfer
function H(s):
(18)

 ) (G G
 ) s + 0(s )
H ( s ) = I ( G G ) s + ( G G ) ( I + G G
G G
1

2.2 Controller Design for SOPDT Process

On the basis of the above design principle, the SOPDT
process has been considered as a representative model as
discussed in Shamsuzzoha and Lee [13]:
K e s
(12)
G =
p

2
1 + 21
e
2

2.3. The Multi-Loop PID Controller Design for

Desired Set-point Responses

z1 , z2 ,", zm , then

f =

2 = 22 1

c0

c0

c1 +

c0

c0

Suppose that the desired closed-loop response of the

diagonal elements in the multi-loop system is given by
~
(19)
R ( s ) = diag [ R 1 , R 2 ,..., R n ]
According to the design strategy of the IMC controller,
the desired closed-loop response Ri of the ith loop is
chosen by
G (s)
(20)
R i (s) = ii +
(i s + 1)ni

where Gii+ is the non-minimum part of

( G ) and chosen
p ii

to be the all pass form; i is an adjustable constant; ni is

order of IMC filter which chosen for the IMC controller
to be realizable. Furthermore, the desired closed-loop
response R can also be written in Maclaurin series as
 (s) = R
 (0) + R
 '(0)s + R
 ''(0)s 2 + O(s3 )
(21)
R
where R (0) = I because G ii + (0) = 1

2863

In the multi-loop control systems, our aim is to design

 ( s ) to make all the diagonal
the multi-loop controller G
c
terms of H to be those of R as close as possible over
wide frequency range. Using this frequency-dependent
properties of the closed-loop interactions, analytical
design of the multi-loop PID controller can be largely
simplified while it still takes the interaction effect fully
into account as follows:
At high frequencies, the magnitude of open loop gain
becomes G p ( j )G c ( j )  1 and thus H(s) can be

closed-loop response R di ( s) of the ith loop typically

represented by

where G p ( s ) = diag[G11 , G22 ,..., Gnn ]

Therefore, the ideal controller of the ith loop can be
designed by
1

Gci (s) =

Gii(s)
(is+1)ni Gii+(s)

where

(24)

Gii is the minimum part of ( G p ) . Since

ii

Gii + (0) = 1 , Eq. 24 can be rewritten in a Maclaurin

series with an integral term as

f '' (0)
1
(25)
Gci (s) = fi (0) + fi' (0)s + i s2 +0(s3)
s

where f i ( s ) = sGci ( s ) . By comparing Eq. 25 with

standard PID controller form, the analytical tuning rules
for the proportional gain and the derivative time
constant of the multi-loop PID controller can be
obtained by
K ci = fi ' (0)

; Di = 0.5

fi " (0)
fi ' (0)

Ii

Cdi (s) =

G -1p (0)
ii

2.4. The multi-loop PID controller design for

improved disturbance rejection
According to the multi-loop IMC controller design
method and adding the IMC filter which can reject
dominant pole in process control model, the desired

(29)

j=1

m j
n
(i s +1) - Gii+ (s) ijs +1

j=1

where ij is defined to cancel the dominant poles in each

element of processes.
According to Truong and Lee [18], the proportional and
the derivative term of the multi-loop PID controller can
be designed as Eq. 26. At low frequency, the integral
term of multi-loop controller is obtained by
G 'ii+ (0) ni i + i1 G ci
(30)

=
Ii

G -1
(0)
p
ii

2.5. The weighted sum Mp criterion for multiloop controller tuning

In the MIMO system, the closed-loop transfer function
can be expressed as
(31)
H ( s ) = { H ij } ; i, j = 1, 2,, n
where Hij represents the closed-loop transfer function of
the ith loop to the set-point change in the jth loop.
It is required for a well-balanced control performance
that Hii must be close to unity for wide frequency range
while Hji should be close to zero through whole
frequency range. To take these requirements into
account of controller design, a weighted sum of
individual Mp is proposed by Truong and Lee [19] as

(32)

min (1 w)
i

Mp

ij

j i

Mp

+w

ii

subject to Mpii Mplow

(26)

 . At low
Consider the design of the integral term G
c0
frequencies, the interaction effect between the control
loops cannot be neglected. Therefore, by comparing the

diagonal element of H(s) in Eq. 18 and R(s)
in Eq. 21
for the first-order s term, one can get the analytical
tuning rule for the integral time constant of the multiloop PID controller as follows
Gii' + (0) ni i K ci
(27)
=

[ Gii- (s)]-1 ijs j +1

(22)

 and G
 can be
Therefore, Eq. 22 indicates that G
c0
c1
designed by considering only the main diagonal
elements in Gp(s), which means the generalized IMCPID method for the SISO system can be directly applied
to the design of the proportional and derivative terms in
the multi-loop PID controller. At high frequencies, the
ideal multi-loop feedback controller to give the desired
 ( s) is designed by
closed-loop response R
-1
 ( s) = G
 ( s)R
 ( s)(I R
 ( s)) 1
(23)
G
c
p

(28)

At high frequency, the proportional and derivative terms

in the multi-loop PID controller can also designed by
the SISO IMC-PID method with the same reason for
set-point case. The multi-loop controllers are then
obtained by

approximated to
H (s) = ( I + G (s) G c (s)) 1 G p (s) G c (s) G p (s) G c (s)

m
Gii+ (s) ijs j +1
j=1
 = diag{R ,R ,..., R } =
R
n
di
d1 d 2
di
is+1 i

where Mpij is defined by max 0 H ij ( j , ) ; Mplow is

the lower bound of diagonal Mp; w is the adjusting
factor for weighting the performances between the
diagonal and off-diagonal closed-loop responses and is
ranged from 0 to 1. The optimum value of w lies
between 0.5 and 0.75 and that of Mplow is from 1.1 to
1.4.

3. SIMULATION RESULTS
Example 1. Lag time dominant FODUP
An important result published for FODUP model
Shamsuzzoha and Lee [12].
Gp =

1e0.4 s
1s 1

(33)

The proposed method was compared with those of Liu

et al. [14] and Lee et al. [8]. The design of the
disturbance rejection is identical for both Liu et al.s

2864

1.2

Process variable

obtain Ms = 3.03 . Figure 3 shows the comparison of

the proposed method with those of Liu et al [14] and
Lee et al. [8], performed by introducing a unit step
change in both the setpoint and load disturbance. For the
servo response, the setpoint filter is used for both the
proposed method and that of Lee et al. [8], whereas a
three controller element structure is used for the method
of Liu et al [14]. As is apparent from Figure 3, the
proposed method results in an improved load
disturbance response and an identical disturbance
rejection response is obtained in both cases for Lee et al.
and Liu et al. For the servo response, the method of Liu
et al. [14] seems better, but the settling times of Liu et
al.s [14] method and the proposed method are
comparable.

compared controllers. The 2DOF control scheme using

the setpoint filter was used in each method to enhance
the setpoint response. The proposed controller shows
both smaller overshoot and faster disturbance rejection
than those by the DSd and SL methods. The proposed
controller shows significant advantages in overshoot and
fast settling time, particularly in disturbance rejection.

0.8

0.4
Proposed method
DS-d
Shamsuzzoha and Lee
0

0.1

0.06

-0.02

Process Variable

12
Time

18

24

Fig. 4. Simulation results for Example 1

0.6
0.4

The robust performance is evaluated by inserting a

perturbation uncertainty in all three parameters in the
simultaneously and results demonstrate that the proposed
method has more robust performance than the others.
Example 3: Consider the Wood and Berry (WB)
distillation column model [18].

Proposed method
Liu et al.
Lee et al.

0.2

0.7

3
Time

Proposed method
Liu et al.
Lee et al.

0.5
Process Variable

24

0.02

0.3

12.8e s

16.7 s + 1
Gp =
6.6e7 s

10.9s + 1

0.1

-0.1
0

18

Proposed method
DS-d
Shamsuzzoha and Lee

0.14

0.8

0
0

12
Time

0.16

Process variable

[14] and Lee et al.s [8] methods. However, for the

setpoint response, Liu et al. [14] used a modified IMC
structure, while Lee et al. [8] applied a setpoint filter.
For the methods of both Liu et al. [14] and Lee et al. [8]
= 0.5 , and in proposed method ( = 0.20 ) adjusted to

3
Time

Fig. 3. Simulation results for Example 1

It is important to note that the well known modified
IMC structure has the theoretical advantage of
eliminating the time delay from the characteristic
equation. Unfortunately, this advantage is lost if the
process model is inaccurate. Besides, real process plants
usually incorporate unmodeled dynamics that inevitably
tend to deteriorate the control system performance
severely.
Example 2. Stable SOPDT Process
Consider the following SOPDT process (Shamsuzzoha
and Lee [13]):
2 e 1s
(34)
Gp =
(1 0 s + 1 ) ( 5 s + 1 )
The proposed PIDC controller is compared with two
other PID controllers: DSd [6] and the method of
Shamsuzzoha and Lee [9] (hereafter, SL method). In
order to ensure a fair comparison, all of the compared
controllers are tuned to have Ms = 1.87 by adjusting
their respective .
A unit step change is introduced in both the setpoint
and load disturbance. Figure 4 compares the setpoint
and load disturbance responses obtained using three

18.9e3 s

21s + 1
3 s
19.4e

14.4s + 1

(35)

To evaluate performance of the proposed method,

closed-loop responses by the proposed controller were
compared with those by the well-known existing tuning
methods: the first is the biggest log modulus tuning
(BLT) method of Luyben [21]; the second is the
decentralized tuning (DLT) method of Jung et al.
[22]; the third is the sequential auto tuning (SAT)
method of Loh et al. [23].
In the simulation study, the step changes in set-point
were sequentially made in the individual loops. ni in Eq.
20 was chosen as 1 for all loops according to the
process model order. The multi-loop PID controller is
designed by considering Eq. 26 and Eq. 27. Then, by
using Eq. 32, the optimum values are found as 0.029
and 3.227 for loop 1 and 2, respectively. The totals of
integral absolute error (IAE) were calculated as 16.55,
57.99, 30.48, and 23.31 for proposed, BLT, DLT, and
SAT, respectively.
Fig. 5 shows the closed-loop responses by the various
design methods. As shown in the figure, the proposed
method provides well-balanced and fast responses over
other existing methods. Superiority of the proposed
method can also be confirmed by its IAE values.

2865

Fig. 5. Simulation results for Example 3

4. CONCLUSIONS
In this article, we have discussed IMC based analytical
design method for a PID controller and a PID cascaded
with a loworder lead lag filter. The proposed deign
method cover a broad class of processes e.g., stable and
unstable in SISO category as well as MIMO.
Several important representative processes were
considered in the simulation study in order to
demonstrate the superiority of the proposed method.

Acknowledgement
This research was supported by Yeungnam University
research grants in 2008.

REFERENCES
[1] D. E. Rivera, M. Morari and S. Skogestad, Internal
model control, 4. PID controller design, Ind. Eng.
Proc. Des. Deu., Vol. 25, pp. 252, 1986.
[2] M. Morari, E. Zafiriou, Robust Process Control,
Prentice Hall Englewood Cliffs, New York, 1989.
[3] I. L. Chien and Fruehauf, Consider IMC tuning to
improve controller performance, Chem. Eng.
Prog.,Vol. 86, No. 10, pp. 33, 1990
[4] J. G. Ziegler and N. B. Nichols, Optimum settings
for automatic controller, Trans. ASME, Vol. 64, pp.
759, 1942.
[5] I. G. Horn, J. R. Arulandu, J. G. Christopher, J. G.
VanAntwerp and R. D., Braatz, Improved filter
design in internal model control, Ind. Eng. Chem.
Res., Vol. 35, pp. 3437, 1996.
[6] D. Chen and D. E. Seborg, PI/PID Controller
Design Based on Direct Synthesis and Disturbance
Rejection, Ind. Eng. Chem. Res. 2002, Vol. 41, pp.
4807-4822.
[7] Y. Lee, S. Park, M. Lee and C. Brosilow, PID
controller tuning for desired closed-loop responses
for SI/SO systems, AIChE Journal, Vol. 44, No.1,
pp. 106-115, 1998.
[8] Y. Lee, J. Lee and S. Park, PID controller tuning
for integrating and unstable processes with time

delay, Chem. Eng. Sci., Vol. 55, pp. 3481-3493,

2000.
[9] M. Shamsuzzoha, and M. Lee, IMCPID controller
design for improved disturbance rejection of time
delayed processes, Ind. Eng. Chem. Res. Vol. 46,
pp. 20772091, 2007.
[10] M.Shamsuzzoha and M. Lee, IMC Based PID
Tuning of the Integrating Process with Time Delay,
The Korean Journal of Chemical Engineering, Vol.
25, No. 4, 2008.
[11] M.Shamsuzzoha and M. Lee, An Enhanced
Performance PID Filter Controller for First Order
Time Delay Processes, Journal of Chemical
Engineering of Japan, Vol. 40, pp. 501-510, 2007.
[12] M.Shamsuzzoha and M. Lee, Analytical Design of
Enhanced PIDfilter Controller for Integrating and
First Order Unstable Processes with Time Delay,
Chem. Eng. Sci. Vol. 63, pp. 2717-2731, 2008.
[13] M.Shamsuzzoha and M. Lee, Design of Advanced
PID Controller for Enhanced Disturbance Rejection
of Second Order Process with Time Delay, AIChE,
Vol. 54, pp. 1526-1536, 2008.
[14] T. Liu, W. Zhang, D. Gu, Analytical design of
twodegreeoffreedom control scheme for open
loop unstable process with time delay, J. Process
Control, Vol. 15 pp. 559572, 2005.
[15] C.G. Economou and M. Morari, Internal model
control 6: Multi-loop design, Ind. Eng. Chem.
Proc.Des.Dev, Vol. 25, pp. 411, 1986.
[16] Q.G. Wang, T.H. Tong, and C. Lin, Relay feedback:
Analysis, identification and control, Springer,
London, 2003.
[17] M. Lee, K. Lee, C. Kim, and J. Lee, Analytical
design of multi-loop PID controllers for desired
closed-loop responses, AIChE, Vol. 50, pp.16311635, 2004.
[18] N. L. V. Truong, J. Lee, M. Lee, Analytical design
of multi-loop PI controller for disturbance rejection
in multivariable processes, JCASE, Vol. 11, No. 5,
pp. 505-508, 2006.
[19] N. L. V. Truong, J. Lee, M. Lee, Design of multiloop PID controllers based on the generalized IMCPID method with Mp criterion, IJCAS, Vol. 5, pp.
212-217, 2007.
[20] N. L. V. Truong and M. Lee, Multi-loop PI
controllers design for enhanced disturbance
rejection in multi-delay processes, IJMCS, Vol. 2,
pp. 89-94, 2008.
[21] W. L. Luyben, Simple method for tuning SISO
controllers in multivariable systems, Ind. Eng.
Chem. Process Des. Dev., Vol. 25, pp. 654-660,
1986.
[22] J. Jung, J. Y. Choi, and J. Lee, One-parameter
method for a multi-loop control system design, Ind.
Eng. Chem. Res. Vol. 38, pp. 1580-1588, 1999.
[23] A. P. Loh, C. C. Hang, C. K. Quek, and V. N.
Vasnani,Autotuning of multivariable proportionalintegral controllers using relay feedback, Ind. Eng.
Chem. Res., Vol.32, pp. 1002-1007,1993.

2866