The main point of this paper is to present an iterative optimization strategy for tuning the parameters of Smith predictor based fractional order PID (SPFOPID) controller. The control scheme considered in this paper is the standard Smith predictor structure. Also, the internal model is considered to be a First Order Plus Dead Time (FOPDT) transfer function. Finally, the proposed method is implemented on a multi inputmulti output (MIMO) flow-level plant and the obtained results are compared with the results of applying Smith predictor based PID controller (SPPID) in the similar structure. 2015 23 rd Iranian Conference on Electrical Engineering (ICEE) 978-1-4799-1972-7/15/$31.00 c 2015 IEEE ( ) , t L I x t s L x t J J r dt J J J J ½ °® ¾°¯¿ ®°
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