A TDF fractional order controller design for time delay systems using IMC approach

Time delay is an inherent characteristic of real-time systems, which can have detrimental effects on systems performance and may even result in instability. Therefore, in this paper, a two-degree-of-freedom (TDF) fractional order controller design for the fractional order time delay systems is proposed based on the internal model control (IMC) approach. It comprises set-point and feedback controllers, which can regulate the transient performance and robustness of the system from delay effects. The proposed approach comprises two tuning parameters, which are analytically derived based on the stability analysis. The proposed methodology's performance is examined under servo, regulatory, and parametric analyses. Numerous performance parameters and indices are estimated for precise analysis. Its performance has been compared to recent state-of-the-art techniques and validated on the real-time four-tank system to analyze its effectiveness.