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.