Geometrical design of fractional controllers for linear time-invariant fractional-order systems with time delay.

This article presents a simple procedure that allows a practical design of fractional -PD mu controllers for single-input single-output linear time-invariant fractional-order systems subject to a constant time delay. The methodology is based on a geometric approach, which provides practical guidelines to design stabilizing and non-fragile PD mu controllers. The simplicity of the proposed approach is illustrated by considering several numerical examples encountered in the control literature. Moreover, with the aim of showing the performance of the PD mu over a classical PD controller, both controllers were implemented at the end of the article in an experimental test-bench consisting a teleoperated robotic system.