“…In the past, most IPT systems have utilised various types of controllers including directional tuning, fuzzy, bit-stream and simple PI and PID controllers as a means of verifying a model or particular control strategy [7,6,9,10,8,12,13,31,32]. These controllers give sub-optimal performance if not correctly tuned and are vulnerable to system disturbances and parametric variations which are prevalent in such systems.…”