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This paper presents a new way to design MIT rule as an advanced technique of MARC (Model Adaptive Reference Controller) for an integer order inverted pendulum system. Here, our work aims to study the performance characteristics of fractional order MIT rule of MARC controller followed by optimal fractional order PID controller in MATLAB SIMULINK environment with respect to time domain specifications. Here, to design fractional order MIT rule Grunwald-Letnikov fractional derivative calculusdoi:10.14419/ijet.v7i2.21.11830 fatcat:nq4ifhe5zrfyxak42qs46aouza