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Studies in Systems, Decision and Control 364

Omar Naifar
Abdellatif Ben Makhlouf   Editors

Fractional Order
Systems—
Control Theory
and Applications
Fundamentals and Applications
Studies in Systems, Decision and Control

Volume 364

Series Editor
Janusz Kacprzyk, Systems Research Institute, Polish Academy of Sciences,
Warsaw, Poland
The series “Studies in Systems, Decision and Control” (SSDC) covers both new
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broadly perceived systems, decision making and control–quickly, up to date and
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Omar Naifar · Abdellatif Ben Makhlouf
Editors

Fractional Order
Systems—Control Theory
and Applications
Fundamentals and Applications
Editors
Omar Naifar Abdellatif Ben Makhlouf
CEM Laboratory Department of Mathematics
Department of Electrical Engineering College of Science
National School of Engineers of Sfax Jouf University
University of Sfax Sakaka, Saudi Arabia
Sfax, Tunisia

ISSN 2198-4182 ISSN 2198-4190 (electronic)

Studies in Systems, Decision and Control
ISBN 978-3-030-71445-1 ISBN 978-3-030-71446-8 (eBook)
https://doi.org/10.1007/978-3-030-71446-8

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Preface

Since the middle of the last century, the control theory has been subject to a revo-
lution and a very huge amount of research works in the literature. Rationally, the
great majority of works, established until now, have focused on the classical integer-
order systems, modeled with differential equations where an integer-order derivative
is used. Meanwhile, with the development of science and applied mathematics, it
has been discovered that several physical systems are really described with differ-
ential fractional-order equations, where a fractional derivative order is used. Conse-
quently, such systems cannot be effectively modeled using the classical differential
integer-order equations. As a result to this fact, a growing interest is being given
by researchers in the last few decades, to investigate fractional-order systems; and
various problems inside the control theory, such as state estimation, control and
fault diagnosis, are being tackled. Note that, compared to the integer-order case,
the fractional-order framework represents a fertile field of research, since it has
been “recently” addressed by researchers and several specific questions are still to
investigate for fractional-order systems.
Fractional-order systems (FOS) are dynamical systems that can be modeled by a
fractional differential equation carried with a non-integer derivative. Such systems
are said to have fractional dynamics. Integrals and derivatives of fractional orders are
used to illustrate objects that can be described by power-law nonlocality, power-law
long-range dependence, or fractal properties. FOS are advantageous in studying the
behavior of dynamical systems in electrochemistry, physics, viscoelasticity, biology,
and chaotic systems. In the last few decades, the growth of science and engineering
systems has considerably stimulated the employment of fractional calculus in many
subjects of the control theory, for example, in stability, stabilization, controllability,
observability, observer design, and fault estimation.
The application of control theory in fractional-order systems is an important issue
in many engineering applications. It is necessary to note that several physical systems
are not truly modeled with integer-order differential equations. The reason is that
their actual dynamics contain non-integer derivatives. So, to accurately describe
these systems, the fractional-order differential equations have been introduced. Such
systems are conventionally called fractional-order systems. Fractional-order systems
with a fractional derivative between 0 and 1 correspond to an extension of the classical
v
vi Preface

integer-order ones, so that a broader set of real systems could be covered. As exam-
ples, image processing, electromagnetic systems, and dielectric polarization have
been modeled using the fractional-order calculus. Indeed, this subject covers also
important applications in engineering areas such as bioengineering, viscoelasticity,
electronics, robotics, control theory, and signal processing.
The aim of this book is to bring together knowledge, analysis, and synthesis
of fractional control problem of nonlinear systems as well as some applications.
Topics of interest include state estimation for fractional-order systems including, for
example, works on new results on the state estimation problem for fractional-order
systems and robust observer scheme for a class of linear fractional systems. The
problem of stabilization can be presented also, namely the feedback control scheme
for fractional systems or the model-reference control problem. Furthermore, fault
estimation for fractional nonlinear systems is one of the most important subjects, for
example, the adaptive estimation strategy of component faults and actuator faults for
fractional-order nonlinear systems, etc. In regard to applications, some examples are
introduced.
This book is composed of 10 chapters:
• On the Stability of Caputo Fractional-Order Systems: A Survey
In this chapter, an overview on the stability of Caputo fractional-order systems
is presented. To begin with, a general introduction is introduced then, and some
preliminaries are given. After that, the concept of stability of Caputo fractional
differential equations is described, including the stability of nonlinear fractional
differential equations and some special cases.
• Observers and Observability—Theory and Literature Overview
In this chapter, an overview of observers and observability is given. To begin
with, a general introduction is introduced, and then, observers and observability
for continuous-time linear systems are given. Finally, some observers design for
certain fractional-order systems is presented.
• A Brief Overview on Fractional Order Systems in Control Theory
In this chapter, an overview of the different parts that intervene in this thesis is
given.
Fractional-order systems are introduced, and a state of the art in relation with
these systems in the control theory is given. Certain classes of nonlinear systems
tackled in this book are presented, with a literature survey on the observer design
problem for these nonlinear systems. The fault diagnosis problem in engineering
is introduced, with the focus on the fault estimation task. The observer-based
control problem for dynamic systems is presented, with introducing the two main
kinds of control, which are the stabilization and the model-reference control.
• State Estimation for Fractional-Order Systems
In this chapter, some results on the state estimation problem for fractional-order
systems are presented. First, a robust observer scheme for a class of linear frac-
tional systems with matched uncertainties is proposed. Then, a novel observer
design for nonlinear fractional-order systems is given. Finally, the specific
problem of robust state estimation for fractional one-sided Lipschitz systems,
Preface vii

in the presence of unknown inputs, is tackled. A full-order observer version, as

well as a reduced-order observer version, is detailed and analyzed.
• Observer-Based Control for Fractional-Order Systems
In this chapter, certain results on the observer-based control problem for fractional-
order systems are presented. The two control philosophies, which are the “sta-
bilization” and the “model-reference control,” are investigated. Dealing with
the stabilization problem, two contributions are given. First, a feedback control
scheme for fractional Lipschitz systems is proposed. Second, an adaptive stabiliza-
tion scheme for a class of uncertain fractional systems is detailed. In the final part,
the model-reference control problem is investigated. A novel and advantageous
model-reference control design for linear fractional-order systems is presented.
• Fault Estimation for Nonlinear One-Sided Lipschitz Systems
In this chapter, some results on the fault estimation problem for nonlinear systems
are presented. Both integer-order systems and fractional-order systems are inves-
tigated. First, using an original and advantageous fault modeling, an adaptive
estimation strategy of component faults and actuator faults for integer-order one-
sided Lipschitz is given. Second, a sensor fault estimation scheme for fractional-
order descriptor one-sided Lipschitz is provided. Finally, a robust sensor fault
estimation approach for fractional-order systems with monotone nonlinearities
and unknown inputs is presented and detailed.
• Fractional Order CRONE and PID Controllers Design for Nonlinear Systems
Based on Multimodel Approach
This chapter deals with the output regulation of nonlinear control systems in
order to guarantee desired performances in the presence of plant parameters vari-
ations. The proposed control law structures are based on the fractional-order
PI (FOPI) and the CRONE control schemes. By introducing the multimodel
approach in the closed-loop system, the presented design methodology of frac-
tional PID control and the CRONE control guarantees desired transients. Then,
the multimodel approach is used to analyze the closed-loop system properties and
to get explicit expressions for evaluation of the controller parameters. The tuning
of the controller parameters is based on a constrained optimization algorithm.
Simulation examples are presented to show the effectiveness of the proposed
method.
• Design of Robust Fractional Predictive Control for a Class of Uncertain
Fractional Order Systems
In this work, the robust fractional predictive control (RFPC) approach is designed
for a class of fractional-order system with real uncertain parameters. The control
law is obtained by the resolution of a min-max optimization problem that takes
into account the uncertainties of the fractional-order model parameters. Subse-
quently, the resolution of this problem using standard approach can give local
solutions. Hence, we propose the use of the global optimization methods with a
view to solving min-max non-convex problem for the uncertain fractional-order
system, which eventually helps to find the global optimum. The performances
and the efficiency of the proposed RFPC controller are illustrated with practical
applications to a thermal system.
viii Preface

• Constant Phase Based Design of Robust Fractional PI Controller for Uncer-

tain First Order Plus Dead Time Systems
In this chapter, a new design method of a robust fractional-order PI controller
for uncertain first-order plus dead time systems is proposed in this paper. The
proposed design method uses a numerical optimization algorithm to determine
the unknown controller parameters. The main objective of the proposed design
method is improving the robustness in degree of stability to gain variations and
the stability robustness to the other parameters variations that affect the phase
by imposing a constant phase margin to the corrected open-loop system in a
prespecified frequency band. Several simulation examples are presented to design
the robust fractional PI controller and to test the robustness for different forms of
uncertainty.
• Identification of Continuous-Time Fractional Models from Noisy Input
and Output Signals
It is well known that, in some practical system identification situations, measuring
both input and output signals can commonly be affected by additive noises. In
this chapter, we consider the problem of identifying continuous-time fractional
systems from noisy input and output measurements. The bias correction scheme,
which aims at eliminating the bias introduced by the fractional-order ordinary least
squares method, is presented, based on the estimation of variances of the input
and output measured noises. The compensation method for the input and output
noises is also studied by introducing an augmented high-order fractional-order
system in the identification algorithm. The presented algorithm is established
to perform unbiased coefficients and fractional-order estimation. The promising
performances of the proposed method are assessed via the identification of a
fractional model and a fractional real electronic system.

Sfax, Tunisia Omar Naifar

Sakaka, Saudi Arabia Abdellatif Ben Makhlouf
April 2021
Contents

On the Stability of Caputo Fractional-Order Systems: A Survey . . . . . . . 1

Abdellatif Ben Makhlouf
Observers and Observability—Theory and Literature Overview . . . . . . . 9
Assaad Jmal, Omar Naifar, Abdellatif Ben Makhlouf, Nabil Derbel,
and Mohamed Ali Hammami
A Brief Overview on Fractional Order Systems in Control Theory . . . . . 29
Assaad Jmal, Omar Naifar, Abdellatif Ben Makhlouf, Nabil Derbel,
and Mohamed Ali Hammami
State Estimation for Fractional-Order Systems . . . . . . . . . . . . . . . . . . . . . . . 49
Omar Naifar, Assaad Jmal, Abdellatif Ben Makhlouf, Nabil Derbel,
and Mohamed Ali Hammami
Observer-Based Control for Fractional-Order Systems . . . . . . . . . . . . . . . . 75
Omar Naifar, Assaad Jmal, Abdellatif Ben Makhlouf, Nabil Derbel,
and Mohamed Ali Hammami
Fault Estimation for Nonlinear One-Sided Lipschitz Systems . . . . . . . . . . 95
Omar Naifar, Assaad Jmal, Abdellatif Ben Makhlouf, Nabil Derbel,
and Mohamed Ali Hammami
Fractional Order CRONE and PID Controllers Design
for Nonlinear Systems Based on Multimodel Approach . . . . . . . . . . . . . . . . 123
Mohamed Lazhar Wardi, Rihab Abdelkrim, and Mohamed Naceur Abdelkrim
Design of Robust Fractional Predictive Control for a Class
of Uncertain Fractional Order Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Aymen Rhouma and Sami Hafsi
Constant Phase Based Design of Robust Fractional PI Controller
for Uncertain First Order Plus Dead Time Systems . . . . . . . . . . . . . . . . . . . 159
B. Saidi, Z. Yacoub, M. Amairi, and M. Aoun

ix
 x Contents

Identification of Continuous-Time Fractional Models from Noisy

Input and Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Z. Yakoub, M. Aoun, M. Amairi, and M. Chetoui

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