The following steps are used in the IMC-based PID control system design

Find the IMC controller transfer function, q(s), which includes a filter, f(s), to make q(s)
semiproper or to give it derivative action (order of the numerator of q(s) is one order greater that
the denominator of q(s)). Notice that this is a major difference from the IMC procedure. Here, in
the IMC-based procedure, we may allow q(s) to be improper, in order to find an equivalent PID
controller. The bad news is - you must know the answer that you are looking for, before you can
decide whether to make q(s) proper or improper in this procedure. We will generally guide you
along the correct path.
IMC-Based PID Design for a Second-Order Process
Find the PID-equivalent to IMC for a second-order process,
𝐾𝑝
, ̌𝑝 (𝑠) =
𝐺 (1)
(𝜏1 𝑠+1)(𝜏2 𝑠+1)
Step 1. Find the IMC controller transfer function, q(s) - here we allow q(s) to be improper
Because we wish to end up with a PID controller when we are
(𝜏 𝑠+1)(𝜏2 𝑠+1) 1
̌ 𝐹(𝑠) = 𝐺𝑝−1 (𝑠)𝐹(𝑠) = 1
𝑄(𝑠) = 𝑄(𝑠) * (2)
𝐾𝑝 𝜇𝑠+1

Step 2. Find the equivalent standard feedback controller using the transformation
(𝜏1 𝑠+1)(𝜏2 𝑠+1) 1
∗
𝑄(𝑠) 𝐾𝑝 𝜇𝑠+1
𝐺𝑐 (𝑠) = = 𝐾𝑝 (3)
1−𝐺𝑝−1 (𝑠)𝑄(𝑠) (𝜏 𝑠+1)(𝜏2 𝑠+1)
1− 1 ∗
1
𝐾𝑝 𝜇𝑠+1(𝜏1 𝑠+1)(𝜏2 𝑠+1)

by recall that the transfer function for a PID controller is

𝜏𝐼 𝜏𝐷 𝑠 2 +𝜏𝐼 𝑠+1
𝐺𝑐 (𝑠) = 𝐾𝑐 ( ) (4)
𝜏𝐼 𝑠

Step 3. Rearrange (3) to fit the form of (4). Multiplying (3)

τ1 +τ2 (τ1 s+1)(τ2 s+1)
Gc (S) = ( (τ +τ )s ) (5)
Kp μ 1 2

Equating terms in (4) and (5), we find the following relationships

τ1 +τ2
𝐾𝑐 =
Kp μ

𝜏𝐼 = τ1 + τ2
𝜏1 𝜏2
𝜏𝐷 =
𝜏1 +𝜏2
We can take some Approximation number our ID numbers.
4.39≈4 and 5.34≈5
2.35≈ 2 and 3.93 let Assume 3.
4
Then the general transfer function is 𝐺𝑝 (𝑆) =
3𝑆 2 +5𝑆+2
During equation (2) we can solve the transfer function of a plant by using IMC second order method 𝑄(𝑠)
1
̌ 𝐹(𝑠) = 𝐺𝑝−1 (𝑠)𝐹(𝑠 ) where 𝐹(𝑠 ) =
𝑄(𝑠) = 𝑄(𝑠) let take the value of 𝜇 = 1
𝜇𝑠+1
2 1
𝑄(𝑠) =
3𝑆 +5𝑆+2* then
4 𝑠+1
2
3𝑆 +5𝑆+2∗ 1
𝑄(𝑠) 𝑠+1
𝐺𝑐 (𝑠) = ̌𝑝 (𝑠)𝑄(𝑠)
= 2
4
1−𝐺 3𝑆 +5𝑆+2∗ 1 4
1− ∗
4 𝑠+1 2
3𝑆 +5𝑆+2

2
3𝑆 +5𝑆+2
𝐺𝑐 (𝑠) = From this transfer function 3𝑆 2 + 5𝑆 + 2 will be
4𝑠
2 3
factorized. (𝑠 + 1)( 𝑠 + 1)
3 2

We can substitution in to equation 5 above:

τ1 +τ2 2 3
𝐾𝑐 = = (1+ )/4 =0.42
Kp μ 3 2

2 3
𝜏𝐼 = τ1 + τ2 = (1 + )=1.7
3 2
3
𝜏1 𝜏2 1∗
2
𝜏𝐷 = = 2 3 =0.4
𝜏1 +𝜏2 (1+ )
3 2

𝜏𝐼 𝜏𝐷 𝑠 2 +𝜏𝐼 𝑠+1
𝐺𝑐 (𝑠) = 𝐾𝑐 ( ) Substitution on this equation the value of 𝐾𝑐 , 𝜏𝐼 , 𝜏𝐷
𝜏𝐼 𝑠

0.29s2 +0.714s+0.42
Gc (s) =
1.7s