<![CDATA[Wireless Networked Control System (WNCS) is made up of an actuator, sensor, and controller that communicates through a wireless network rather than typical point-to-point cable connections. Lower maintenance costs, greater flexibility, and increased safety are the main WNCS advantages, so as a result, it has attracted a lot of researchers. Nevertheless, time delays and packet losses in wireless data transmission are classified as complicated problems, which impair WNCS output accuracy and may influence the overall system stability. Integer-Order PI-PD (PI-PD) and Fractional-Order PI-PD (FOPI-FOPD) controllers are proposed to reduce the impact of the control signal transmission's time delay and improve system performance. Matlab Simulink and True-time simulator are used to simulate the WNCS, and ZigBee protocol is used in transceiving the control signal between the controller and the system. Rotary Inverted Pendulum (RIP) acted as the controller's objective. The Grey Wolf Optimization (GWO) technique is utilized to evaluate the best controller parameters. Xbee S2 modules are used to implement the signal transmission process over ZigBee protocol. The FOPI-FOPD controller outperforms the PI-PD controller in the simulation and experimental results in decreasing the influence of time delay on system stability]]>
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