system with time delay using fractional-order Pl lambda D mu controllers. It is based on
determining a set of global stability regions in the (kp, K i, K d)-space corresponding to the
fractional orders lambda and mu in the range of (0, 2) and then choosing the biggest global
stability region in this set. This method can be also used to find the set of stabilizing
controllers that guarantees prespecified gain and phase margin requirements. The algorithm …