Stabilizing and Robust Fractional PID Controller Synthesis for Uncertain First-Order plus Time-Delay Systems

Algorithm 1

Compute range for several values.

(1)	Initialize ; ; .
(2)	Count the roots of the equation for .
(3)	If then go to 4.
	Else increment and go to 5.
(4)	Save and increment .
(5)	If , go to 2, else give Pontryagin interval,