Control System Design Based on a Universal First Order Model with Time Delays

T. Vyhlídal, P. Zítek


An original modelling approach for SISO systems is presented, based on a first order model with more than one delay in its structure. By means of this model it is possible truly to hit off the properties of systems which are conventionally described by higher order models. The identification method making use of a relay feedback test combined with transient responses of the system has proved to be suitable for assessing the model parameters. With respect to its plain structure the model is well suited to be applied in the framework of an internal model control scheme (IMC). The resultant control algorithm with only one optional parameter is very simple and can easily be implemented, for example by means of a programmable controller (PLC).


time delay system; internal model control; system eigenvalues; control parameter setting

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ISSN 1210-2709 (Print)
ISSN 1805-2363 (Online)
Published by the Czech Technical University in Prague