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<p>The paper “Internal Model Control Based PID Tuning Using First-Order Filter” presents a theorem proposing that the modeling error Δ(<i>s</i>) between the original plant and its reduced model vanishes at steady state for unit step and impulse inputs. This paper modifies the theorem to enforce steady-state gain matching explicitly. We propose a modification by introducing a multiplication factor (MF) to ensure gain matching, thereby eliminating steady-state modeling errors. Simulations on a precision modular servo (PMS) system, a single-area load frequency control (LFC) system, and a fifth-order system inspired by electric vehicle dynamics validate the modification, demonstrating zero steady-state error across multiple model reduction techniques.</p>

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A Note on: “Internal Model Control Based PID Tuning Using First-Order Filter”

  • 期刊论文

  • 发表日期：

    2025年8月13日

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  • AnilKumar Badavath,
  • Yogesh V. Hote

摘要

The paper “Internal Model Control Based PID Tuning Using First-Order Filter” presents a theorem proposing that the modeling error Δ(s) between the original plant and its reduced model vanishes at steady state for unit step and impulse inputs. This paper modifies the theorem to enforce steady-state gain matching explicitly. We propose a modification by introducing a multiplication factor (MF) to ensure gain matching, thereby eliminating steady-state modeling errors. Simulations on a precision modular servo (PMS) system, a single-area load frequency control (LFC) system, and a fifth-order system inspired by electric vehicle dynamics validate the modification, demonstrating zero steady-state error across multiple model reduction techniques.