IMC PID Designer
Pick a process model, set its parameters, and let IMC tuning rules
compute the PID parameters automatically. Compare setpoint and
disturbance step responses as you adjust the model or the desired
closed-loop time constant λ.
1. Select a process model
Transfer function with parameters
Current numerical transfer function
2. Model parameters
Smaller λ = faster, more aggressive response. Larger λ = slower, more robust.
3. IMC tuning rule
Controller gain
Kc — Integral time
τI — Derivative time
τD — Filter time
τF —
Parallel PID: Kp=Kc, Ki=Kc/τI, Kd=Kc·τD
4. Open-loop vs closed-loop step responses
Open-loop
Process response to unit step input, no controller.
Closed-loop: setpoint
Unit step in setpoint; controller drives process output to track the reference.
Closed-loop: disturbance
Unit disturbance at controller output (process input); setpoint at zero.