In this article modified H₂ minimization based Internal Model Control-Proportional Integral (MH₂IMC-PI) control structure for time delayed stable process is designed. Initially, H₂ optimal IMC-PI is designed and implemented which is then altered by including an additional controller block with a proportional gain constant. The final response of the feedback system is enhanced due to this modification. The water cycle algorithm is deployed to acquire the best optimal parameters for controller settings. Further, the efficacy of the proposed is investigated using different transfer functions and case studies. The servo and regulatory performance are also compared with other control techniques available in recent studies. The results were simulated, and the suggested novel control scheme gives smooth and distinct process outputs and control actions. It is also shown that MH₂IMC-PI reduces integral value of absolute and square error values in comparison to the already existing techniques in the literature and proves its superiority over other controllers.

本文设计了一种基于改进H ₂最小化的时滞稳定过程的内模控制-比例积分(MH ₂ IMC-PI)控制结构。最初，H ₂设计并实现了最佳 IMC-PI，然后通过包含一个具有比例增益常数的附加控制器块进行更改。由于这种修改，反馈系统的最终响应得到了增强。部署水循环算法以获取控制器设置的最佳参数。此外，使用不同的传递函数和案例研究来研究所提出的有效性。伺服和调节性能也与最近研究中可用的其他控制技术进行了比较。结果进行了模拟，并且建议的新颖控制方案给出了平滑和独特的过程输出和控制动作。还表明 MH ₂与文献中已有的技术相比，IMC-PI 减少了绝对和平方误差值的积分值，并证明了其优于其他控制器的优势。