IMC based tuning method of PID controller for DC motor speed control

For improvement of transient response of the error signal all the closed loop control system requires the controller. The simplicity, robustness and ease of implementation has attracted the use of Proportional, Integral and Derivative (PID) controllers. Though the tuning of PID controllers in real time is quite difficult and moreover it lacks the disturbance rejection capability. Internal model control (IMC) based tuning approach has been developed In order to compensate these internal design problems. The IMC uses a single tuning parameter to adjust the performance and robustness of the controller. The tuning method is very efficient in controlling the stability, dynamics and the overshoot of the speed-control system of the DC motor. The resulting structure of the control system is capable of controlling a fast dynamic process by integral control, which results in a striking improvement in performance.