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In this paper, a novel fractional-order Proportional-Integral Derivative (PID) controller design depending on optimal selection of frequency domain specifications is proposed for time delay systems. The frequency domain specification sets, namely, (i) phase margin and gain crossover frequency and (ii) phase margin and gain margin are determined so that the reference model is optimal according to three time domain performance indices, i.e. Integral Square Error (ISE), Integral Time Square Error (ITSE) and Integral Absolute Error (IAE). Here, the delayed Bode's ideal transfer function is employed in the reference model. Moreover, the stability region of the reference model is given via a theorem. In simulation studies, the proposed methodology is compared with other two different methods using the same frequency domain specifications. It is observed that the proposed optimal fractional-order PID controllers outperform according to the mentioned performance indices, and they also possess considerably acceptable performance in terms of other time domain specifications such as overshoot, settling time, etc.

Fractional-order PID controller design via optimal selection strategy of frequency domain specifications