# Consider the FOPTD model in Eq. 12-10 with K = 5, = 4, and = 3. Design PI and PID controllers using the IMC tuning method with c = = 3. Simulate the closed loop systems for a unit step change in set point. Does the addition of derivative action result in significant improvement?

Chapter 12, Exercises #6

Consider the FOPTD model in Eq. 12-10 with K = 5, τ = 4, and θ = 3. Design PI and PID controllers using the IMC tuning method with τ_{c} = θ = 3. Simulate the closed loop systems for a unit step change in set point. Does the addition of derivative action result in significant improvement?

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4th edition

**Authors:** Dale E. Seborg, Thomas F. Edgar, Duncan A. Mellichamp, Francis J. Doyle

**ISBN:** 978-1119385561