A graphical approach for stability and robustness analysis in commensurate and incommensurate fractional‐order systems

In this paper, a novel graphical approach for stability and robustness analysis in commensurate and incommensurate fractional‐order systems (FOS) is proposed. The approach can determine zero distribution of system characteristic equations with commensurate and incommensurate fractional‐orders in right‐half plane (RHP) and imaginary axis in the complex plane. The approach proposed is derived and generalizd from Routh‐type test for polynomials with the commensurate fractional and integer orders. In addition, the novel graphical approach can treat robustness issues of some certain systems. Furthermore, some examples are given to demonstrate the effectiveness of the approach. Finally, a proof is given to verify the correctness of the criterion.     

Pseudo-state feedback stabilization of commensurate fractional order systems

This paper addresses the problem of pseudo-state feedback stabilization of commensurate fractional order systems (FOS). In the proposed approach, Linear Matrix Inequalities (LMI) formalism is used to check if the pseudo-state matrix eigenvalues belong to the FOS stability region of the complex plane. A review of LMI stability conditions is first proposed for fractional order 0<ν<1 and 1<ν<2. The paper then focuses particularly on the case 0<ν<1 as the stability region is non-convex and associated LMI condition is not as straightforward to obtain as in the case 1<ν<2. A new LMI stability condition is thus proposed. Based on this condition, a necessary and sufficient LMI method for the design of stabilizing controllers is given. This method paves the way for extension to FOS of various LMI-based results. Among these possible extensions, a first result on robust control of polytopic fractional order systems is given in this paper.     

A note on the stability of fractional order systems

In this paper, a new approach is suggested to investigate stability in a family of fractional order linear time invariant systems with order between 1 and 2. The proposed method relies on finding a linear ordinary system that possesses the same stability property as the fractional order system. In this way, instead of performing the stability analysis on the fractional order systems, the analysis is converted into the domain of ordinary systems which is well established and well understood. As a useful consequence, we have extended two general tests for robust stability check of ordinary systems to fractional order systems.     

Exact stability test and stabilization for fractional systems

In this paper we point out a connection between regular chains and the stability of fractional order systems. This observation leads to an elementary test for the stability of commensurate fractional systems.     

分数阶线性系统的内部和外部稳定性研究

介绍了分数阶线性定常系统的状态方程描述和传递函数描述．运用拉普拉斯变换和留数定理，给出并证明了分数阶线性定常系统的内部和外部稳定性条件，并讨论了其相互关系．以一个粘弹性系统的实例验证了上述方法的正确性．     

Mittag-Leffler stability of fractional order nonlinear dynamic systems

In this paper, we propose the definition of Mittag-Leffler stability and introduce the fractional Lyapunov direct method. Fractional comparison principle is introduced and the application of Riemann-Liouville fractional order systems is extended by using Caputo fractional order systems. Two illustrative examples are provided to illustrate the proposed stability notion.     

Finite‐time stability of fractional order impulsive switched systems

This paper considers the finite‐time stability of fractional order impulsive switched systems. First, by using the fractional order Lyapunov function, Mittag–Leffler function, and Gronwall–Bellman lemma, two sufficient conditions are given to verify the finite‐time stability of fractional order nonlinear systems. Then, the concept of finite‐time stability is extended to fractional order impulsive switched systems. A sufficient condition is given to verify the finite‐time stability of fractional order impulsive switched systems by combining the method of average dwell time with fractional order Lyapunov function. Finally, two numerical examples are provided to illustrate the theoretical results. Copyright © 2014 John Wiley & Sons, Ltd.     

分数阶线性定常系统的稳定性及其判据

介绍了分数阶微分方程和分数阶系统 ,给出分数阶线性定常系统的传递函数描述和状态空间描述 .给出了分数阶线性定常系统的稳定性条件 ,并结合分数阶状态方程给出定理的证明 .直接从复分析中的辐角原理出发 ,推导出分数阶线性定常系统 2个有效的稳定性判据 :分数阶系统奈奎斯特判据和分数阶系统对数频率判据 .通过实例验证了其有效性     

Inverse Routh table construction and stability of delay equations

Based on an inversion of the Routh table construction, a unimodular characterization of all Hurwitz polynomials is obtained. In parameter space, the Hurwitz polynomials of degree n correspond to the positive 2ⁿ-tant. The method is then used to construct classes of stable continuous-time delay-difference equations and delay differential equations of neutral type, by a suitable limiting process.     

分数阶系统的最优Oustaloup数字实现算法

控制系统通常无法用确定的解析表达式表达,所以需要利用滤波器来近似数字实现分数阶微积分.为此,提出一种新的分数阶系统数字实现算法--最优Oustaloup数字实现算法,通过最优算法寻找滤波器最优参数,在频率段内实现分数阶系统模型的高拟合精度.实例仿真结果表明,该算法在频率响应中的幅频特性及相频特性均优于Oustaloup及其改进算法.     

Time domain model order reduction using general orthogonal polynomials for K-power bilinear systems

In this paper, we propose a model order reduction (MOR) method based on general orthogonal polynomials for K-power bilinear systems in the time domain. Constructing proper projection matrices by solving a series of linear equations, a reduced K-power bilinear system is produced, which preserves the original coupled structure. It can match several expansion coefficients of the original output. Then the error bound of our algorithm is also investigated. Moreover, the stability of the reduced system is discussed as well. Finally, two numerical examples are provided to illustrate the effectiveness of our algorithm.     

On the existence of periodic solutions in time-invariant fractional order systems

Periodic solutions and their existence are one of the most important subjects in dynamical systems. Fractional order systems like integer ones are no exception to this rule. Tavazoei and Haeri (2009) have shown that a time-invariant fractional order system does not have any periodic solution. In this article, this claim has been investigated and it is shown that although in any finite interval of time the solutions do not show any periodic behavior, when the steady state responses of fractional order systems are considered, periodic orbits can be detected.     

Fractional order [proportional derivative] controller for a class of fractional order systems

Recently, fractional order systems (FOS) have attracted more and more attention in various fields. But the control design techniques available for the FOS suffer from the lack of direct systematic approaches. In this paper, we focus on a given type of simple model of FOS. A fractional order [proportional derivative] (FO-[PD]) controller is proposed for this class of FOS, and a practical and systematic tuning procedure has been developed for the proposed FO-[PD] controller synthesis. The fairness issue in comparing with other controllers such as the traditional integer order PID (IO-PID) controller and the fractional order proportional derivative (FO-PD) controller has been addressed under the same number of design parameters and the same specifications. Fair comparisons of the three controllers (i.e., IO-PID, FO-PD and FO-[PD]) via the simulation tests illustrate that, the IO-PID controller designed may not always be stabilizing to achieve flat-phase specification while both FO-PD and FO-[PD] controllers designed are always stabilizing. Furthermore, the proposed FO-[PD] controller outperforms FO-PD controller for the class of fractional order systems.     

Simultaneous state estimation and parameter identification in linear fractional order systems using coloured measurement noise

In the present paper, the identification and estimation problem of a single-input–single-output (SISO) fractional order state-space system will be addressed. A SISO state-space model is considered in which parameters and also state variables should be estimated. The canonical fractional order state-space system will be transformed into a regression equation by using a linear transformation and a shift operator that are appropriate for identification. The identification method provided in this paper is based on a recursive identification algorithm that has the capability of identifying the parameters of fractional order state-space system recursively. Another subject that will be addressed in this paper is a novel fractional order Kalman filter suitable for the systems with coloured measurement noise. The promising performance of the proposed methods is verified using two stable fractional order systems.     

A novel approach for root distribution analysis of linear time‐invariant systems using Routh and Fuller tables

The root distribution of a given characteristic equation of a linear time‐invariant system can be analyzed with the help of a Routh table using the elements of the first column in the table. In the case of unstable systems, sometimes, a zero element may appear in the third row of the first column of the Routh array. This prematurity can be suitably handled as indicated by various authors. In this paper, the given characteristic polynomial having roots in the right hand plane is multiplied by a suitable polynomial, and Routh and Fuller tables are applied for the resultant polynomial to infer the complete root distribution. Further, the column polynomials from each table are adopted to know more about root distribution, which forms the core of the proposed work. The Routh table helps in counting and locating roots in the s‐plane, and the Fuller table helps in depicting whether the roots are distinct or complex in nature. In this regard, it is shown in this paper that the simultaneous integration of Routh and Fuller tables yields a good amount of information regarding the root distribution in the s‐plane. The newly presented procedure is illustrated with examples. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

A new method based on legendre polynomials for solution of system of fractional order partial differential equations

We study legendre polynomials in case of more than one variable and develop new operational matrices of fractional order integrations as well as fractional order differentiations. Based on these operational matrices, we develop a new sophisticated technique to solve a coupled system of fractional order partial differential equations. Our technique reduces the coupled system under consideration to a system of easily solvable algebraic equations without discretizing the system. As an application, we provide examples and numerical simulations demonstrating that the results obtained using the new technique matches well with the exact solutions of the problems. We also study error analysis graphically.     

Local observability and controllability of nonlinear discrete-time fractional order systems based on their linearisation

The concepts of local controllability and observability of nonlinear discrete-time systems with the Caputo-, Riemann–Liouville- and Grünwald–Letnikov-type h-difference fractional order operators are studied. The Implicit Function Theorem is used in order to show that the nonlinear systems are locally observable or controllable in a finite number of steps if their linear approximations are observable or controllable, respectively, in the same number of steps.     

图像增强中分数阶阶次自适应模型的构造

为了解决分数阶微分算子在图像增强中需要人工寻找最佳阶次,缺乏阶次自适应的问题,构造了分数阶微分阶次自适应数学模型。该模型以反正切函数为原型,以图像的梯度信息、局部信息熵、亮度和对比度为自变量,建立了微分阶次与图像局部信息之间的关系,从而可以根据图像的局部信息特征自动计算图像中各个像素点的最佳阶次,并将该模型应用在分数阶微分Tiansi算子的图像增强中。为了验证该模型的有效性,选用标准图像库中的多幅纹理图像进行实验,对实验结果进行了定性和定量分析,在定量分析中采用图像信息熵、平均梯度、清晰度和对比度四个评价指标衡量图像增强的效果,并与二阶微分Laplacian算子、Tiansi算子进行比较。理论分析和实验结果均表明建立该模型的有效性,对灰度图像可以得到连续变化的增强效果,接近于最佳分数阶微分增强效果,符合人们的视觉感受。     

分数阶系统变阶次状态空间建模及稳定理论

结合分数阶微积分算子的叠加原理,提出了变阶次状态空间建模方法.将分数阶系统推广到状态空间领域,实现了最小阶状态空间转换,并可根据实际需要通过增加状态变量来提取某一阶次的输出信号.对于各阶次均小于1的变阶次状态空间实现的分数阶系统,提出了变阶次分数阶系统的稳定性判定定理.最后通过实例仿真验证了所提出方法的有效性.