Self-tuning IMC-PID control with interval gain and phase margins assignment

The idea of pole-region assignment is extended to interval gain and phase m argin assignment. The internal model control proportional-integral-derivati ve IMC-PID design is examined from the frequency domain point of view, Equa tions for typical frequency domain specifications such as gain margin, phas e margin and bandwidth are derived for the IMC-PID design. The gain and pha se margins are monitored in real time and a self-tuning controller with int erval gain and phase margin assignment is proposed. rin implementation exam ple in the laboratory is also given.