Muresan, Cristina I.Dutta, AbhishekDulf, Eva H.Pınar, ZehraMaxim, AncaIonescu, Clara M.2022-05-112022-05-1120160020-71791366-5820https://doi.org/10.1080/00207179.2015.1086027https://hdl.handle.net/20.500.11776/7402This paper presents two tuning algorithms for fractional-order internal model control (IMC) controllers for time delay processes. The two tuning algorithms are based on two specific closed-loop control configurations: the IMC control structure and the Smith predictor structure. In the latter, the equivalency between IMC and Smith predictor control structures is used to tune a fractional-order IMC controller as the primary controller of the Smith predictor structure. Fractional-order IMC controllers are designed in both cases in order to enhance the closed-loop performance and robustness of classical integer order IMC controllers. The tuning procedures are exemplified for both single-input-single-output as well as multivariable processes, described by first-order and second-order transfer functions with time delays. Different numerical examples are provided, including a general multivariable time delay process. Integer order IMC controllers are designed in each case, as well as fractional-order IMC controllers. The simulation results show that the proposed fractional-order IMC controller ensures an increased robustness to modelling uncertainties. Experimental results are also provided, for the design of a multivariable fractional-order IMC controller in a Smith predictor structure for a quadruple-tank system.en10.1080/00207179.2015.1086027info:eu-repo/semantics/closedAccessControl designinternal model controlfractional calculusrobustnesstime delaysmultivariable processexperimental resultsCompensationSystemsDesignPiTuning algorithms for fractional order internal model controllers for time delay processesArticle893579593Q2WOS:0003687286000112-s2.0-84955409143Q2