Indirect design of non-integer order controller for non-integer order plus time delay processes

This paper presents an approach to design the non-integer order controller for stable non-integer order processes based on internal model control (IMC) approach. It reduces the number tuning parameters to single tuning parameter. The proposed technique creates a filter internally, so it does not require any additional filter to suppress the disturbance's effect and make the proper controller transfer function. It holds one tuning parameter thus is simple to tune and trade-off the robustness and transient response of the process. This parameter is designed using the graphical approach to obtain the optimal process response. The proposed approach efficiency has been examined under load disturbance and parametric uncertainty analyses. The time domain base performance indices and characteristics are computed for precise analysis. Then, it is compared to various recently published approaches under all the considered analyses.