Design and Evaluation of Internal Model Control Using Reduced Fractional Order Modeling

The aim of this paper is a comparison of three different Internal Model Control (IMC) based on the obtained reduced models; the control structure is formulated in the internal model control (IMC) framework. Two reduced order models, an FOPDT and a FOFOPDT model. The three IMC controllers are one with a whole order, one-half fractional, and the other a complete fractional one. The idea is to apply them in a nonlinear system with variable and dominant delay for tracking and disturbances rejection to observe how the fractional terms improve or not the performance.