A frequency domain fractional order tilted integral derivative controller design for fractional order time delay processes

In real-time processes, time delays are inherent due to various factors, such as delays in volume, mass, and information transfer, leading to a deterioration in process performance and stability. Therefore, this paper proposes a fractional-order tilted integral derivative (TID) controller design for stable and unstable fractional-order processes with time delay, where the optimal controller parameters are designed using a deterministic approach. An inner loop controller is designed using stability analysis and a graphical approach for unstable fractional-order time delay processes. The proposed approach offers flexibility and fine-tuning in designing the controller for a specific application. A systematic reference to the disturbance ratio is carried out to assess the disturbance handling capacity of the proposed controller. It shows the sensitivity of the designed controller against disturbances in the frequency spectrum graphically. Numerous performance indices and time-domain parameters are computed and compared with state-of-the-art techniques to analyze the efficacy. Furthermore, it is validated on the experimental setup of a four-tank system. Simulation and experimental results demonstrate that the proposed approach outperforms recent techniques in terms of process control and disturbance rejection.