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imc-tuning-rules

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Calculate PI/PID controller gains using Internal Model Control (IMC) tuning rules for first-order systems.

tasks/hvac-control/environment/skills/imc-tuning-rules/SKILL.md

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# IMC Tuning Rules for PI/PID Controllers

## Overview

Internal Model Control (IMC) is a systematic method for tuning PI/PID controllers based on a process model. Once you've identified system parameters (K and tau), IMC provides controller gains.

## Why IMC?

- **Model-based**: Uses identified process parameters directly
- **Single tuning parameter**: Just choose the closed-loop speed (lambda)
- **Guaranteed stability**: For first-order systems, always stable if model is accurate
- **Predictable response**: Closed-loop time constant equals lambda

## IMC Tuning for First-Order Systems
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