DHAKA UNIVERSITY OF ENGINEERING & TECHNOLOGY,
Gazipur-1707
Department of Chemical Engineering.
Course Code: ChE-4772
Course Name: Transport Phenomena sessional.
Experiment No-03
Experiment Name- PID Control Loop Tuning using IMC method.
Date of Experiment:17-07-2025 Date of Submission: 04-08-2025
Submitted By, Submitted To,
Name: Md. Shafiul Hasan S.M. Akimus salehin
Lecturer
Student ID: 208001
Dpt. Of Chemical Engineering
Year:4th DUET, Gazipur-1707
Semester:2nd
Session:2020-2021 Md. Rashedul islam
Lecturer
Dpt. Of Chemical Engineering
DUET, Gazipur-1707
Allocated Mark Obtained Mark Signature
Abstract:
PID (Proportional-Integral-Derivative) controllers are widely used in industrial automation due
to their ease of implementation and reliable performance. However, precise tuning of controller
parameters is essential to achieve optimal control results. The Internal Model Control (IMC)
method provides a structured and model-based approach for tuning PID controllers by utilizing
a simplified model of the process. Typically applied to first-order plus dead-time (FOPDT)
systems, IMC-based tuning enables efficient disturbance rejection, smoother responses, and
improved overall control stability. This approach also enhances the controller's robustness,
making it more tolerant to changes in process dynamics. As a result, IMC tuning is a valuable
technique in modern process control engineering.
Simulation Block Diagram:
Process response for a step input is simulated in MATLAB Simulink software in the following
manner.
Figure no 01: Block diagram of open loop system.
Figure no 02: Block diagram for closed loop PID controller before tuning
Figure no 03: Block diagram for closed loop PID controller After tuning
Calculation:
My student ID: 208001
Kp = 3
τ = 10 + 01 = 11
θ = 5 + 01 = 6
For IMC method:
θ
τ+2
Kc =
θ
K p (K c + 2)
6
11 + 2
Kc =
11 6
3( 3 + 2)
= 0.7
θ 6
τi = τ + = 11 + = 14
2 2
τθ 11 × 6
τD = = = 2.35
2τ + θ 2 × 11 + 6
Transfer function:
1
Gc = K c (1 + + τD s)
τi s
I
Gc = (p + + DS)
s
P = K c = 0.7
Kc
I=
τi
0.7
= = 0.05
14
D = K c × τD
Result & Discussion:
Figure 04: Graph on open loop system
The graph displays the step response of an open-loop system. Step Input Behavior is an open-
loop system, there is no feedback to correct the output. Process Reaction The output starts to
rise in response to the step input. It follows a first-order plus dead-time (FOPDT) behavior, the
output increases exponentially towards a steady state. The curve is smooth and shows no
oscillation or overshoot, typical of overdamped or first-order systems. Eventually, the output
significantly higher than the input step value. No Control Action Because the system is open-
loop, there is no correction to bring the output back to match the input. The output simply
follows the process’s inherent dynamics. Implication for Control Design This open-loop
response is typically used to: Model the system (e.g., determine gain, time constant, dead time).
Figure 05: Graph on closed loop system before tuning
The graph shows the response of a closed-loop control system to a step input, Oscillatory
Behavior output exhibits sustained and growing oscillations, which indicate that the system is
unstable or very poorly tuned. Lack of Stability system fails to settle at the desired set-point.
Instead of approaching the input level smoothly, the output fluctuates more wildly as time
progresses. The controller gains (especially proportional or integral gain) might be too high.
This Tuning response highlights the urgent need for proper PID tuning (e.g. using the IMC
method) to ensure: Stability, Reduced oscillations Better tracking of the set-point
Figure 06: Graph on closed loop system After tuning
The graph shows the improved response of the closed-loop system to a step input, after tuning
(using the IMC method). Improved Stability Compared to the previous response, the system
now exhibits significantly reduced oscillations. While some oscillatory behavior is still present,
the amplitude is lower and more controlled. Better Tracking The output more closely follows
the set-point especially in the early stages. This indicates improved set-point tracking and faster
initial response. Although the system is now more stable, underdamped behavior is still
evident, as the response does not settle immediately. Further fine-tuning could reduce this
further.
Simulated Data:
Controller Gain Integral Time Derivative Time Integral Absolute Time to Reach
constant constant Error Steady
0.7 0.05 1.645 4 × 103 300
0.4 0.015 2 2 × 103 250
DHAKA UNIVERSITY OF ENGINEERING & TECHNOLOGY,
Gazipur-1707
Department of Chemical Engineering.
Course Code: ChE-4745
Course Name: Process Dynamic & Control.
Assignment No-01
Assignment Name- Sinusoidal Forcing of First order.
Date of Experiment:17-07-2025 Date of Submission: 04-08-2025
Submitted By, Submitted To,
Name: Md. Shafiul Hasan Md. Jahirul Islam
Student ID: 208001 Assistant Professor
Dpt. Of Chemical Engineering
Year:4th
DUET, Gazipur-1707
Semester:2nd
Session:2020-2021
Allocated Mark Obtained Mark Signature
