Abstract
Most industrial processes are regulated using PID control. However, many such processes often operate far from optimally because PID may not be the most suitable control method. Moreover, second-order models represent a large class of all controlled systems. This work studies the performance of some commonly used industrial PID controllers relative to MPC to understand when it is more suitable to use Model predictive control. MPC is used for this comparison because it has been the most successful industrial controller after PID. It can be concluded from the studies that improved performance can be achieved with MPC, even for modest dead time and when the damping ratio is relatively low. These improvements are prominent for dead-time dominant systems, whose dead-time to time-constant ratio is at least three.