V.  Balaji, 
    Study and Analysis of Advanced Control Algorithms on a FOPDT Model,
    Research Journal of Applied Sciences,
    Volume 9,Issue 6,
    2014,
    Pages 376-381,
    ISSN 1815-932x,
    rjasci.2014.376.381,
    (https://makhillpublications.co/view-article.php?doi=rjasci.2014.376.381)
    Abstract: This study illustrates the simulation of a simple First Order plus Delay Time (FOPDT) process model using Advanced Control algorithms. Specifically, these advanced algorithms are the IMC-based PID controller, the Model Predictive Controller (MPC) and the Proportional-Integral-Plus controller (PIP) and their performance is compared with the conventional Proportional-Integral-Derivative (PID) algorithm. The simulations took place using the Matlab Software.
    Keywords: FOPDT;Advanced Control algorithms;IMC-based PID;MPC;PIP;PID