Research of Control Method for First-order Integrator and Time Delay Process Based on Improved Internal Model Control

An improved internal model control method was proposed for integrator and time delay process to overcome the limitation of the traditional internal model control method.A proportional controller and a proportional differential controller were added to the traditional internal model control structure to stabilize unstable object and control the disturbance rejection performance and robustness of the system.All-pole approximation method was adopted to approximate the delay item of the system.The improved internal model control had fast set point response and good disturbance rejection performance.The design of each controller was simple,and there was only one parameter in the whole system.The simulation results of a first-order integrator and time delay process illustrates the effectiveness of the method.