The crux of the problem is that non-developed nations still have something that developed countries want: either natural resources, or human resources. The IMF is basically a modern version of the Paris Club, and is a tool used to make it cheap and easy to extract these resources/make them available to the global economy, without the explicit threat of military invasion.
I don't really see a good solution for "Poor" countries. You can't have people dependent forever on foreign aid. But perhaps the developed part of the world becomes so productive that at least the necessities for productive lives, such as basic education and healthcare, can be provided to "poor" nations. This is what I view the Gates foundational work as doing.
It is in the interests of the global community to have stable and safe economies all around the globe. I really hope we can reach that goal sometime in my lifetime....