IMC for PID

[Loukask]

Hello everyone,

I have a second order system which i am controlling with a PID controller. My question is, how could i define IMC (Internal Model Control) parameters to control the system? I have seen there is an example but i don't understand how it works. Any ideas?

[cbutcher]

Perhaps if you linked the example we could try and explain how it works. However, if the question is "How do I determine PID gain coefficients to control my system" then likely the answer will be very generic, or you will need to give more information about your system.

[Loukask]

Hello sorry for my late response,

actually yes I want to define the PID gains for my system in order to have IMC control. That's why I was checking this particular example which seems to do so. I attach both my system and the example and hope for some help. 

[Loukask]

Actually, i know that my system has an unstable pole that needs to be changed, i am not sure about zeros. And the problem is how i define the other model needed in order to have IMC control. I would be glad to here some advices.