Fractional order proportional and derivative controller design for second-order systems with pure time-delay

Systematic design schemes of fractional order proportional differential (FOPD) controller for the second order plus time delay system are presented. In the same design specifications, the same controller parameters and the the same plant conditions, fair comparisons of the FOPD controller and the optimal design integer-order PID (IOPID) controllers via simulation experimental tests have revealed that FOPD Controller outperforms the IOPID controllers in stability, dynamic performance and robustness when the parameter changes.