How to design IMC based fractional order PID controller on integer order plant? what is the step ?

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Mohammed M’SAAD

I recommend the paper of Rachid Mansouri

However, I would like to point out that the PID control structure is not a suitable candidate for process control because of its inherent sensitivity to noise measurements. A filtering acction has be be incorporated into the design to deal wich this issue.

Mohammad Tabatabaei

It is possible by selecting a fractional order filter (F(s)) in the IMC structure.

The filter hs to be chosen such that the transfer function relating the system input to the noise measurement performs as a low pass filter.