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The objective of this work is to design a fractional filter fractional order PID controller for non-integer order plus time delay (NIOPTD) systems using fractional internal model control (IMC) filter structure. The novelty of the work lies in identifying the higher order fractional IMC filter structure using a systematic analytical procedure based on the minimization of integral absolute error (IAE). The resulting controller consists of a fractional filter term and a fractional PID controller. The tuning parameters are identified based on the minimum value IAE for a fixed robustness (Ms). Simulations are carried out for servo and regulatory response and it was found that an enhanced performance is observed with the proposed controller in terms of low IAE and ITAE. Uncertainties in the process parameters are considered to check the robustness and the stability is assessed with robust stability analysis. The results indicate that the closed loop system with the proposed controllers is robustly stable. In addition, fragility analysis has been done for uncertainties in the controller parameters. The major contribution of this work is the analytical design procedure for identification of optimum fractional IMC filter structure with higher order pade's approximation for timed delay.

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