Discretization algorithm for fractional order integral by Haar wavelet approximation

A discretization algorithm is proposed by Haar wavelet approximation theory for the fractional order integral. In this paper, the integration time is divided into two parts, one presents the effect of the past sampled data, calculated by the iterative method, and the other presents the effect of the recent sampled data at a fixed time interval, calculated by the Haar wavelet. This method can reduce the amount of the stored data effectively and be applied to the design of discrete-time fractional order PID controllers. Finally, several numerical examples and simulation results are given to illustrate the validity of this discretization algorithm.