Computation of Fractional Order Derivative and Integral via Power Series Expansion and Signal Modelling

The three techniques of s-to-z transform, power series expansion (PSE) and signal modelling are combined to develop a new procedure for efficiently computing the fractional order derivatives and integrals of discrete-time signals. A mapping function between the s-plane and the z-plane is first chosen, and then a PSE of this mapping function raised to fractional order is performed to get the desired infinite impulse response of the ideal digital fractional operator. Finally, the desired impulse response is modelled as the impulse response of a linear invariant system whose rational transfer function is determined using deterministic signal modelling techniques. Three non-iterative techniques, namely Padé, Prony and Shanks’ methods have been considered in this paper. Using Al-Alaoui’s rule as s-to-z transform, computation examples show that both Prony and Shanks’ method can achieve more accurate fractional differentiation and integration than Padé method which is equivalent to continued fraction expansion technique.     

Fractional Order Disturbance Observer for Robust Vibration Suppression

For the first time, the fractional order disturbance observer (FO-DOB) is proposed for vibration suppression applications such as hard disk drive servo control. It has been discovered in a recently published US patent application (US20010036026) that there is a tradeoff between phase margin loss and strength of the low frequency vibration suppression. Given the required cutoff frequency of the low pass filter, also known as the Q-filter, it turns out that the relative degree of the Q-filter is the major tuning knob for this tradeoff. The solution in US20010036026 was based on an integer order Q-filter with a variable relative degree. This actually motivated the use of a fractional order Q-filter. The fractional order disturbance observer is based on the fractional order Q-filter. The implementation issue is also discussed. The nice point of this paper is that the traditional DOB is extended to the fractional order DOB with the advantage that the FO-DOB design is now no longer conservative nor aggressive, i.e., given the cutoff frequency and the desired phase margin, we can uniquely determine the fractional order of the low pass filter.     

Identification of Fractional Systems Using an Output-Error Technique

An original method for modeling, simulation and identification of fractional systems in the time domain is presented in this article. The basic idea is to model the fractional system by a state-space representation, where conventional integration is replaced by a fractional one with the help of a non-integer integrator. This operator is itself approximated by a N-dimensional system composed of an integrator and of a phase-lead filter. An output-error technique is used in order to estimate the parameters of the model, including the fractional order N. Simulations exhibit the properties of the identification algorithm. Finally, this methodology is applied to the modeling of the dynamics of a real heat transfer system.     

The Time-Scaled Trapezoidal Integration Rule for Discrete Fractional Order Controllers

In this paper, the time-scaled trapezoidal integration rule for discretizing fractional order controllers is discussed. This interesting proposal is used to interpret discrete fractional order control (FOC) systems as control with scaled sampling time. Based on this time-scaled version of trapezoidal integration rule, discrete FOC can be regarded as some kind of control strategy, in which strong control action is applied to the latest sampled inputs by using scaled sampling time. Namely, there are two time scalers for FOC systems: a normal time scale for ordinary feedback and a scaled one for fractional order controllers. A new realization method is also proposed for discrete fractional order controllers, which is based on the time-scaled trapezoidal integration rule. Finally, a one mass position 1/s^k control system, realized by the proposed method, is introduced to verify discrete FOC systems and their robustness against saturation non-linearity.     

Fractional relaxation and the time-temperature superposition principle

Relaxation processes in complex systems like polymers or other viscoelastic materials can be described by equations containing fractional differential or integral operators. In order to give a physical motivation for fractional order equations, the fractional relaxation is discussed in the framework of statistical mechanics. We show that fractional relaxation represents a special type of a non-Markovian process. Assuming a separation condition and the validity of the thermo-rheological principle, stating that a change of the temperature only influences the time scale but not the rheological functional form, it is shown that a fractional operator equation for the underlying relaxation process results.     

Modified characteristic finite difference fractional step method for moving boundary value problem of percolation coupled system

For the coupled system with moving boundary values of multilayer dynamicsof fluids in porous media,a characteristic finite difference fractional step scheme appli-cable to the parallel arithmetic is put forward.Some techniques,such as the change ofregions,the calculus of variations,the piecewise threefold quadratic interpolation,themultiplicative commutation rule of difference operators,the decomposition of high orderdifference operators,and the prior estimates,are adopted.The optimal order estimatesin the l2norm are derived to determine the error in the approximate solution.This nu-merical method has been successfully used to simulate the flow of migration-accumulationof the multilayer percolation coupled system.Some numerical results are well illustratedin this paper.     

Stabilization of fractional order systems using a finite number of state feedback laws

In this paper, the stabilization of linear time-invariant systems with fractional derivatives using a limited number of available state feedback gains, none of which is individually capable of system stabilization, is studied. In order to solve this problem in fractional order systems, the linear matrix inequality (LMI) approach has been used for fractional order systems. A shadow integer order system for each fractional order system is defined, which has a behavior similar to the fractional order system only from the stabilization point of view. This facilitates the use of Lyapunov function and convex analysis in systems with fractional order 1<q<2. To this end, an extremum-seeking method is used for obtaining Lyapunov function and defining a suitable sliding sector in order to enable switching between available control gains for system stabilization. Consequently, using the LMI approach in fractional order systems, necessary and sufficient conditions are provided for stabilization of systems with fractional order 1<q<2 using a limited number of available state feedback gains which lead to variable structure control.     

On Fractional Adaptive Control

Introducing fractional operators in the adaptive control loop, and especially in Model Reference Adaptive Control (MRAC), has proven to be a good mean for improving the plant dynamics with respect to response time and disturbance rejection. The idea of introducing fractional operators in adaptation algorithms is very recent and needs to be more established, that is why many research teams are working on the subject. Previously, some authors have introduced a fractional model reference in the adaptation scheme, and then fractional integration has been used to deal directly with the control rule. Our original contribution in this paper is the use of a fractional derivative feedback of the plant output, showing that this scheme is equivalent to the fractional integration, one with a certain benefit action on the system dynamical behaviour and a good robustness effect. Numerical simulations are presented to show the effectiveness of the proposed fractional adaptive schemes.     

Dynamic behavior of fractional order Duffing chaotic system and its synchronization via singly active control

With the increasingly deep studies in physics and technology,the dynamics of fractional order nonlinear systems and the synchronization of fractional order chaotic systems have become the focus in scientific research.In this paper,the dynamic behavior including the chaotic properties of fractional order Duffing systems is extensively investigated.With the stability criterion of linear fractional systems,the synchronization of a fractional non-autonomous system is obtained.Specifically,an effective singly active control is proposed and used to synchronize a fractional order Duffing system.The numerical results demonstrate the effectiveness of the proposed methods.     

Modeling and Analog Realization of the Fundamental Linear Fractional Order Differential Equation

This paper provides a rational function approximation of the irrational transfer function of the fundamental linear fra- ctional order differential equation, namely, whose transfer function is given by for 0<m<2. Simple methods, useful in system and control theory, which consists of approximating, for a given frequency band, the transfer function of this fractional order system by a rational function are presented. The impulse and step responses of this system are derived and simple analog circuit which can serve as fundamental analog fractional order system is also obtained. Illustrative examples are presented to show the exactitude and the usefulness of the approximation methods.     

Mikusinski’s operators solution of three-order linear difference equation with variable coefficients

This paper proceeds the papers [3] [4], we make use of the idea of the variable number operators and some concepts and conclusions of the shifting operators series with variable coefficients in the operational field of Mikusinski, it is devoted to the solution of the general three-order linear difference equation with variable coefficients, and it is also devoted to the better solution formula for the some special three-order linear difference equations with variable coefficients: in addition, we try to provide the idea and method for realizing solution of the more than three-order linear difference equation with variable coefficients. Project Supported by the Science Foundation of Anhui Province     

Modified characteristic finite difference fractional step method for moving boundary value problem of nonlinear percolation system

A fractional step scheme with modified characteristic finite differences running in a parallel arithmetic is presented to simulate a nonlinear percolation system of multilayer dynamics of fluids in a porous medium with moving boundary values. With the help of theoretical techniques including the change of regions, piecewise threefold quadratic interpolation, calculus of variations, multiplicative commutation rule of difference operators, multiplicative commutation rule of difference operators, decomposition of high order difference operators, induction hypothesis, and prior estimates, an optimal order in l ² norm is displayed to complete the convergence analysis of the numerical algorithm. Some numerical results arising in the actual simulation of migration-accumulation of oil resources by this method are listed in the last section.     

Galerkin Projections and Finite Elements for Fractional Order Derivatives

Ordinary differential equations (ODEs) with fractional order derivatives are infinite dimensional systems and nonlocal in time: the history of the state variable is needed to calculate the instantaneous rate of change. This nonlocal nature leads to expensive long-time computations (O(t ²) computations for solution up to time t). A finite dimensional approximation of the fractional order derivative can alleviate this problem. We present one such approximation using a Galerkin projection. The original infinite dimensional system is replaced with an equivalent infinite dimensional system involving a partial differential equation (PDE). The Galerkin projection reduces the PDE to a finite system of ODEs. These ODEs can be solved cheaply (O(t) computations). The shape functions used for the Galerkin projection are important, and given attention. The approximation obtained is specific to the fractional order of the derivative; but can be used in any system with a derivative of that order. Calculations with both global shape functions as well as finite elements are presented. The discretization strategy is improved in a few steps until, finally, very good performance is obtained over a user-specifiable frequency range (not including zero). In particular, numerical examples are presented showing good performance for frequencies varying over more than 7 orders of magnitude. For any discretization held fixed, however, errors will be significant at sufficiently low or high frequencies. We discuss why such asymptotics may not significantly impact the engineering utility of the method.     

Design of analog variable fractional order differentiator and integrator

This paper deals with the design of analog variable fractional order differentiator s ^m and integrator s ^?m , for 0<m<1, for a given frequency band, a subject that has not been yet investigated. The main feature of this analog variable fractional order integrator or differentiator is that its frequency characteristics can be changed without redesigning a new one. First, analog rational function approximation of the fractional order differentiator s ^m and integrator s ^?m are derived with the new idea to keep all its poles to be independent of the fractional orders?m. Next, we have used the polynomial interpolation method to design the variable fractional order analog integrator and differentiator that can be implemented by an analog structure like the digital Farrow structure. Finally, some examples are presented to illustrate the efficiency and the effectiveness of the proposed design method.     

On exact solutions of a class of fractional Euler–Lagrange equations

In this paper, first a class of fractional differential equations are obtained by using the fractional variational principles. We find a fractional Lagrangian L(x(t), where _a ^c D _t ^α x(t)) and 0<α<1, such that the following is the corresponding Euler–Lagrange

A note on the definition of fractional derivatives applied in rheology

It is known that there exist obivious differences between the two most commonly used definitions of fractional derivatives—Riemann–Liouville (R–L) definition and Caputo definition. The multiple definitions of fractional derivatives in fractional calculus have hindered the application of fractional calculus in rheology. In this paper, we clarify that the R–L definition and Caputo definition are both rheologically imperfect with the help of mechanical analogues of the fractional element model (Scott–Blair model). We also clarify that to make them perfect rheologically, the lower terminals of both definitions should be put to ∞. We further prove that the R–L definition with lower terminal a →∞ and the Caputo definition with lower terminal a →∞ are equivalent in the differentiation of functions that are smooth enough and functions that have finite number of singular points. Thus we can define the fractional derivatives in rheology as the R–L derivatives with lower terminal a →∞ (or, equivalently, the Caputo derivatives with lower terminal a →∞) not only for steady-state processes, but also for transient processes. Based on the above definition, the problems of composition rules of fractional operators and the initial conditions for fractional differential equations are discussed, respectively. As an example we study a fractional oscillator with Scott–Blair model and give an exact solution of this equation under given initial conditions.     

Algebraic-Delay Differential Systems, State-Dependent Delay, and Temporal Order of Reactions

Systems of the form

三种分形和分数阶导数阻尼振动模型的比较研究

标准的整数阶导数方程不能准确描述粘弹性材料的记忆性参考文献[1]和阻尼的分数次幂频率依赖[2],因此分形导数、分数阶导数及正定分数阶导数被用于描述粘弹性介质中的阻尼振动.该文通过分析模型和数值模拟,比较了三种模型描述的振动过程.结果显示,当p小于约O.75或大于约1.9时(p为非整数阶导数的阶数),分形导数模型衰减最快;当P大于约0.75且小于约1.9时,正定分数阶导数模型衰减最快,衰减最慢的分别为分数阶导数模型(p<1)和分形导数模型(p>1).且正定分数阶导数模型衰减快于分数阶导数模型,当p接近2时,两种模型较为相近.     

Fractional Trigonometry and the Spiral Functions

This paper develops two related fractional trigonometries based on the multi-valued fractional generalization of the exponential function, the R-function. The trigonometries contain the traditional trigonometric functions as proper subsets. Also developed are relationships between the R-function and the new fractional trigonometric functions. Laplace transforms are derived for the new functions and are used to generate solution sets for various classes of fractional differential equations. Because of the fractional character of the R-function, several new trigonometric functions are required to augment the traditional sine, cosine, etc. functions. Fractional generalizations of the Euler equation are derived. As a result of the fractional trigonometry a new set of phase plane functions, the Spiral functions, that contain the circular functions as a subset, is identified. These Spiral functions display many new symmetries.