On Non-Integer Order Internal Model Control of Non-Minimum Phase Systems and Plants with Transport Delay

In this work, Internal Model control (IMC) based on fractional order (FO) controller is designed for non-minimum phase (NMP) plants and time delayed system which is also a NMP having a right half plane (RHP) zero which is contributed by the delay itself. An integer order (IO) PID controller is positioned in cascade with the FO filter. The resulting controller is fractional having very interesting structure for its implementation. It is formulated based on satisfactory attainment of the frequency domain design specifications, the impact of which is verified considering the transient parameters of settling time, percentage overshoot and undershoot to determine the controller effectiveness. It is further examined that FO-IMC attains all the response and loop criteria in better extent in contrast to IO-IMC which in all the cases compromises loop over response or vice-verse. (135 Words)