Design Method for Fractional Internal Model TI^λD^μ Controller

We propose a design method for the controller of the fractional internal model (IMC) for the integer system and the fractional order system. Firstly, we reduce the order of the original fractional model to obtain a delay time model of the second fractional order. Then we introduce the principle of the IMC into the reduced order system, and design the IMC controller. Finally, we compare the parameters of the with those of the proposed controller, which show the corresponding relationship of the parameters clearly. Based on the comparison, we can get the parameters of controller. Simulation results show that controller has good control quality and robustness.