Fractional—PD controllers design for LTI-systems with time-delay. A geometric approach

In this paper we present a simple procedure to design fractional-PD
^μ
controllers for Single-Input-Single-Output-Linear Time Invariant (SISO-LTI) systems with constant time-delay. More precisely, based on a geometric approach, we present a methodology not only to design a stabilizing controller, but also to provide practical guidelines to design non-fragile PD
^μ
controllers. Finally, in order to illustrate the simplicity of the proposed approach as well as the efficiency of the PD
^μ
controller in a realistic scenario, we consider an experimental setup consisting of controlling a teleoperated system using two Phantom Omni haptic devices.