Internal-Model-Control using a Complex-Order Filter: Design for Fractional-Order Delayed System

A complex-order internal-model-control (CoIMC) method is developed in this paper. The CoIMC has only three tuning parameters, which are readily solved using well-adopted tuning approaches with phase margin (ϕm) and gain margin (gm). The new structure is verified together with fractional order IMC and normal IMC filters. Significant improvements are observed in step, ramp characteristics, internal and external regulatory performances and control actions.