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The obtained results are used to compare the proposed tuning strategy with a popular FO-IMC tuning approach, based on the Taylor series approximation of the time delay. All the chosen examples, both numerical and experimental ones, validate the proposed method. The overall closed loop results obtained with the proposed approach demonstrate an improved performance compared to the existing method. Ultimately, the purpose of the paper to provide an alternative design strategy that extends the existing FO-IMC control field is reached. All th
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