IMC based tuning of fractional order controller (PIλDμ controller)

The idea of fractional order controllers dawned with the exploration of fractional calculus. Since then these controllers have played an inevitable role in the process industry. Fractional order PID controllers have two more parameters unlike the conventional PID controllers. Over the years various tuning rules have been formulated and applied. The Internal Model control becomes useful in fractional order control, when the process model is inaccurate or incomplete. In turn this makes it a fine tool to advocate the investigation of robust stability. The whole process is done without any approximation of time delay.