Indirect IMC‐PID Controller Design With Zero Relative Order–IMC Filter

In this manuscript, a new indirect internal model control (IMC)‐based proportional‐integral‐derivative (PID) controller is designed for stable, integral, and unstable processes with time delay. A zero relative order (ZRO)–IMC filter is introduced, which acts as a lead compensator, enhancing the controller's performance. The proposed method ensures a higher phase margin and improves transient performance. The tuning method allows flexibility in changing system robustness by adjusting the value of the proposed tuning variable , resulting in good set‐point tracking and disturbance rejection. This tuning parameter has a monotonous relationship with system robustness within the specified range. The efficacy of the proposed tuning method is validated through simulation studies and an experimental case study on a DC motor for speed control, and the results are compared with existing IMC‐PID controllers.