Int. J. Fuzzy Syst.
https://doi.org/10.1007/s40815-021-01058-1
A Novel Fractional-Order Multiple-Model Type-3 Fuzzy Control
for Nonlinear Systems with Unmodeled Dynamics
Ardashir Mohammadzadeh1 • Oscar Castillo2 • Shahab S. Band3,4
Amirhosein Mosavi5,6
Received: 18 August 2020 / Revised: 17 December 2020 / Accepted: 22 January 2021
 Taiwan Fuzzy Systems Association 2021
Abstract In this paper, a novel control approach is pro-
posed for a class of uncertain nonlinear system with
unmodeled dynamics. Each output of the system is mod-
eled by several first-order dynamic fractional-order fuzzy
systems. The best dynamic model is selected at a period of
time and the control signal is designed based on this model.
The dynamic fractional-order models are based on the
special case of general type-2 fuzzy systems which are
called interval type-3 fuzzy logic systems (IT3FLSs). The
adaptation laws for the consequent parameters of IT3FLSs
are derived through stability analysis of the fractional-order
systems based on the linear matrix inequality approach.
& Ardashir Mohammadzadeh
a.mzadeh@ubonab.ac.ir
& Oscar Castillo
ocastillo@tectijuana.mx
& Shahab S. Band
shamshirbandshahaboddin@duytan.edu.vn
& Amirhosein Mosavi
amir.mosavi@uni-weimar.de
1
Electrical Engineering Department, University of Bonab,
Bonab, Iran
2
Division of Graduate Studies and Research, Tijuana Institute
of Technology, Tijuana, Mexico
3
Future Technology Research Center, College of Future,
National Yunlin University of Science and Technology, 123
University Road, Section 3, Douliou, Yunlin 64002, Taiwan
4
Institute of Research and Development, Duy Tan University,
550000 Da Nang, Vietnam
5
Institute of Structural Mechanics, Bauhaus Universität-
Weimar, 99423 Weimar, Germany
6
John von Neumann Faculty of Informatics, Obuda
University, Budapest 1034, Hungary
•
The effectiveness of the proposed scheme is verified by
normal simulation on the hyperchaotic Lorenz system with
unmodeled dynamics, real-time simulation on the chaotic
model of the brushless DC motors using Arduino boards
and experimental examination on a heat transfer system
with fully unknown dynamics.
Keywords Nonlinear systems
Unmodeled dynamics

Interval type-3 fuzzy system
Fractional-order
Stability
analysis
1 Introduction
The control of the nonlinear systems (NSs) in presence of
unmodeled dynamics (NSs-UD) is one of the most chal-
lenging problems in control engineering. In practice, the
mathematical model of many physical systems is reliable in
only normal conditions and by changing the operation
conditions or by perturbation by an external disturbance the
dynamics are changed. The problem of the uncertain
parameters or uncertain functions in the dynamics of the
nonlinear systems have been considered in adaptive control
techniques, but the problem of the control of NSs-UD has
been quite rarely investigated in literature.
The control of NSs without unmodeled dynamics has
been widely studied. For instance in [1], the backstepping
control scheme is developed by the use of barrier Lya-
punov function. In [2], the sliding mode control technique
is studied for robotic applications and the reference track-
ing accuracy is compared with other conventional control
systems. In [3], the model predictive control system is
studied and its complexity and robustness are investigated
in comparison with conventional sliding mode control
system. In [4], the event triggered control system is studied
123

and its stability is analyzed by the used of H1 criteria. In
[5], the output feedback controller is studied for fractional-
order NSs and boundedness of signals are proved. In [6],
the dynamic surface controller is developed using neural
networks and the boundedness of closed-loop signals is
studied.
The common approach that has been frequently used in
literature to cope with uncertainties and unmodeled
dynamics is the use of fuzzy systems [7–10]. For instance
in [11], backstepping control (BSC) method using fuzzy
systems is applied on a class of NSs and the small-gain
theorem is employed to stability analyze. In [12], the fuzzy
BSC method is designed for a strict-feedback NSs with
special unmodeled dynamics. In [13], the problem of the
control of interconnected NSs is considered and by
approximation of the uncertainties with the fuzzy systems,
the backstepping controller is designed. Similar to [13], the
backstepping control of NSs-UD are considered in [14],
and instead of fuzzy systems, the neural networks are used
to estimate the uncertainties. In [15], the fuzzy backstep-
ping controller is designed for non-strict-feedback NSs and
an adaptive parameter is presented to cope with the
unmodeled dynamics. In [16], the adaptive control
approach based on fuzzy systems and small-gain theorem
is schemed to control the interconnected NSs. In [17], the
actuator failures and dead-zone nonlinearities are consid-
ered as the uncertainties and an adaptive controller using
fuzzy systems is presented. In [18], the BSC technique is
combined by the radial basis neural networks to control a
class of NSs. The control of the pure-feedback NSs is
considered in [19], and fuzzy systems are employed to
estimate the uncertainties and a simple Lyapunov function
is utilized to demonstrate the stability.
The main drawbacks of the aforementioned methods are
that: (1) A lot of restrictive assumptions are considered to
derive control signal or the stability analysis. (2) A special
form of unmodeled dynamics is considered and the pre-
sented methods cannot be applied to the NSs with more
generality. (3) Simple simulations are given to examine
performance of the presented control methods. (4) Simple
neural networks and type-1 fuzzy logic systems (T1FLSs)
are employed to tackle the uncertainties.
The type-2 FLSs (T2FLSs) with the use of general type-
2 fuzzy membership functions (MFs) result in remarkably
higher efficiency in versus of type-1 counterpart [20–24].
In recent years, the general T2FLSs (GT2FLSs) have been
considered in a wide class of engineering problems, such as
control systems [21, 25, 26], modeling the physical systems
[27], clustering and classifying problems [28], edge
detection and image processing [29], forecasting problems
[30], among many other applications. However, the adap-
tive control of the uncertain nonlinear systems based on
GT2FLSs has been seldom considered in literature. For
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International Journal of Fuzzy Systems
instance in [31], the GT2FLSs are used to estimate the
unknown communication topology and uncertain functions
in the dynamics of multi-agent systems. In [32], the H1
control problem is formulated by the use of GT2FLSs for a
class of uncertain nonlinear systems and it is applied on a
parallel robot. In [26], the non-singular sliding mode
method is developed for a mobile robot system and its
robustness against random disturbances is investigated. In
[33], the type-2 fuzzy backstepping control method is
developed and by simulation examination it is shown that
the performance of the backstepping controller is improved
using T2FLSs.
The main drawbacks of the aforementioned T2FLS
based control methods are that: (1) The controllers are
designed and applied for a special application and it is not
possible the controller to be applied on another systems
with less changes. (2) The unmodeled dynamics are
neglected and only some uncertainties and disturbances are
considered. (3) The real-world verifications are not con-
sidered. Based on the above discussions, in current study a
novel approach on basis of the fractional-order multiple
models is presented for a class of NSs-UD. Some first-
order fuzzy dynamic models with different fractional-
orders (FOs) are considered for online identification of the
unknown system. The controller is schemed on basis of the
best FO dynamic model. At a specific period of time the
best dynamic model is adopted and then it is softly replaced
with the previous model. It should be regarded that, the FO
calculus is more effective than integer-order one in
dynamic system identification. For example, to estimate a
simple fractional-order integral by an integer-order one, a
higher-order transfer function is needed. The FO calculus
has been attracted significant attention is recent years for
modeling the physical systems with more accuracy. Liter-
ature reviewing shows that the FO models of the large class
of physical phenomena and systems have been studied such
as: viscoelasticity [34], financial system [35], batteries and
fuels cells [36], muscular blood vessel [37], permanent
magnet synchronous motors [38], among many others.
However, the control and stability problems of the frac-
tional-order NSs have been rarely studied. The contribu-
tions of this study are summarized in below.
• A class of unknown nonlinear systems under unmod-
eled dynamics is considered.
• A novel approach on basis of the multiple FO dynamic
model is presented for online identification.
• The stability of the proposed controller is analyzed
based on the LMI technique.
• The effectiveness of the suggested scheme is examined
through the normal simulation, real-time simulation
and experimental evaluation.
A. Mohammadzadeh et al.: A Novel Fractional-Order Multiple-Model Type-3 Fuzzy Control\ldots

2 System Description
8 q11
D y^ ðtÞ ¼ F^11 ½yðtÞjh11 ðtފ j11 e^11 þ u11 ðtÞ
< t 11
>
>
..
A class of NSs with uncertain and unmodeled dynamics is > .
>
: q1K
considered as: ^
Dt y^1K ðtÞ ¼ F 1K ½yðtÞjh1K ðtފ j1K e^1K þ u1K ðtÞ
..


x_ ¼ f x1 ; :::; xn ; 11 ; :::; 1p ; u

.
1_ ¼ g x1 ; :::; xn ; 11 ; :::; 1p ð1Þ
8 qm1
D y
^ ð t Þ ¼ F^m1 ½ y ð t Þjh m1 ðtފ jm1 e^m1 þ um1 ðtÞ
< t m1

>
>
y ¼ h x1 ; :::; xn ; 11 ; :::; 1p ; u ; ..
. ;
T
>
where x ¼ ½x1 ; :::; xn Š is the states vector of modeled
>
: qmK ^
Dt y^mK ðtÞ ¼ F mK ½yðtÞjhmK ðtފ jmK e^mK þ umK ðtÞ
 T
dynamics, 1 ¼ 11 ; :::; 1p is the states vector of the ð2Þ
unmodeled dynamics, y ¼ ½y1 ; :::; ym ŠT is the output vector
where hik ; i ¼ 1; :::; m; k ¼ 1; :::; K is the parameters vec-
of the system, u ¼ ½u1 ; :::; um ŠT is the control vector and f,
tor of the FLS in the kth model for ith subsystem, jik is
g and h are the unknown nonlinear functions.
variable that determined from stability analysis and e^ik is
The objective is that the control signals u1 ; :::; um , should
defined as e^ik ¼ y^ik yi and the term Dqt i y^i ðtÞ represents the
be constructed that the system outputs y1 ; :::; ym are
fractional-order derivative which is defined as follows:
approached to the target signals r1 ; :::; rm . A general view
on the suggested control methodology is depicted on Z t ð1Þ
1 y^i ðsÞ
qi
Dt y^i ðtÞ ¼ ds ð3Þ
Figs. 1 and 2. Each output of the system is modeled by Cð1 qi Þ 0 ðt sÞqi
several first-order fractional-order dynamic fuzzy models
with different fractional-orders. At each period of time, the From (2), the control signals are defined as follows:
best model with the best estimation capability is chosen to uik ðtÞ ¼ Dqt ik ri F^ik ½yðtÞjhik ðtފ kik eik ð4Þ
design the controller. The fractional-order calculus is more
effective than integer-order one in dynamic system iden- where uik , i ¼ 1; :::; m; k ¼ 1; :::; K is the control signal for
tification. For example, to estimate a simple fractional- kth model in the ith subsystem, eik ¼ ri y^ik is the tracking
order integral by an integer-order one, a higher-order error and kik is determined through the stability analysis.
transfer function is needed. Then instead of high-order From (4) it is seen that, for ith subsystem, K control signals
model for identification using integer-order calculus, the are generated, but the best one is applied on the ith sub-
first-order model on based of FO calculus is proposed. In system. The best control signal is one that is obtained
order to the value of FO is considered to be not constant, through the best dynamic model. To find the best dynamic
several first-order dynamic models with various fractional- model, the integral of the absolute estimation error for each
Rt
order are proposed. In other words, the effect of the value model (IAe^ik ¼ t T je^ik ðsÞjds; k ¼ 1; :::; K) is calculated
of FO is also taken to account. for the time interval ½t T; tŠ. Then the model that has the
The multiple model to estimate the dynamics of each least IAe^ik is adopt as the best dynamic model (see the
output is written as follows: control block diagram in Fig. 2). The following Lemmas
and Assumptions are used in the process of designing the
controller.
Assumption 1 It is assumed the states of the unmodeled
subsystem are bounded.

Fig. 1 The general view on proposed control system

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 International Journal of Fuzzy Systems

Fig. 2 The proposed control block diagram

Lemma 1 [39] Consider the Lyapunov function x2 ðtÞ, the Lemma 2 [40] Consider the symmetric positive matrices
fractional derivative of order q of x2 ðtÞ satisfies the fol- P11 , P22 and P12 , then the inequalities P11
lowing inequality: PT12 P221 P12 [ 0 and P22 PT12 P111 P12 [ 0 are equiva-
Dqt x2 ðtÞ  xðtÞDqt xðtÞ ; 8q 2 ð0; 1Þ ð5Þ lent with the following inequality:

123
A. Mohammadzadeh et al.: A Novel Fractional-Order Multiple-Model Type-3 Fuzzy Control\ldots

P11 P12 uncertainty in interval type-3 fuzzy sets are not determin-
 
\0 ð6Þ istic but they are interval type-1 fuzzy sets. These features
P12 P22
cause that IT3FLSs to be more effective to tackle with
uncertainties and estimation of nonlinear dynamic systems.
Lemma 3 [41] Consider the real matrices w, e and D Consider the ith output of the system (1), it is modeled as
such that: the following dynamic system:

DT ðtÞDðtÞ  I; wDðtÞe þ eT DT ðtÞwT \0 ð7Þ Dqt ik y^ik ðtÞ ¼ F^ik ½yðtÞjhik ðtފ jik e^1k þ ui ðtÞ ð11Þ

Then, there exist a positive scaler 1 such that the following where F^ik ½yðtÞjhik ðtފ is 3 IT3FLS. The other variables are
inequality holds: defined in (2). The details of computing the output
F^ik ½yðtÞjh1k ðtފ are explained in below.
1wwT þ 1 1 DT ðtÞDðtÞ\0 ð8Þ
1. The inputs are y1 ; y2 ; :::; ym .
2. The membership are obtained as:
Lemma 4 [42] The system Dqt xðtÞ ¼ AxðtÞ, 0\q\1 is
0  1
h
y i c w h

#i;aj ðyi Þ ¼ exp@

i
asymptotically stable, if there exist symmetric matrices A ð12Þ
rwhi;a
Q11 ; Q21 [ 0 and skew symmetric matrices Q12 ; Q22 such j

that the following LMIs are satisfied: 0  1

h
yi cwhi
2 P
2
P 
Sym Xij AQij

#i;a ðyi Þ ¼ exp@ A ð13Þ
\0; j rwhi;a
i¼1 j¼1 j
    ð9Þ
Q11 Q12 Q21 Q22 0  1
[ 0; [0 yi cwhi
Q12 Q11 Q22 Q21 #hi;aj ðyi Þ ¼ exp@ A ð14Þ
rwhi;a
where Symf Ag is defined as Symf Ag ¼ A þ AT , is the j

0  1
Kronecker and Xij , i; j ¼ 1; 2 are: yi cwhi

sin ðqp=2Þ cos ðqp=2Þ
 #hi;a ðyi Þ ¼ exp@ A ð15Þ
X11 ¼
j rwhi;a
j
cos ðqp=2Þ sin ðqp=2Þ
cos ðqp=2Þ sin ðqp=2Þ where whi denotes the hth MF for ith input. cwhi is the
 
X12 ¼
sin ðqp=2Þ cos ðqp=2Þ center of whi . rwhi;a and rwhi;a is the lower and upper
ð10Þ j j
sin ðqp=2Þ cos ðqp=2Þ
 
X21 ¼ standard divisions for whi
at upper horizontal slice aj .
cos ðqp=2Þ sin ðqp=2Þ
Similarly, rwhi;a and rwhi;a is the lower and upper stan-
cos ðqp=2Þ sin ðqp=2Þ
 
j j
X22 ¼ h
dard divisions for whi at upper horizontal slice aj . #i;aj
sin ðqp=2Þ cos ðqp=2Þ
and #h are the upper memberships for jth a-cut and
i;aj

#hi;aj , #hi;a are the lower memberships for jth a-cut.

j

3. The rule firing are:

l l l
zlls ¼aj ¼#1;aj #i;aj


#i;aj ð16Þ
3 The Interval Type-3 FLS
l l l
zlls ¼a ¼#1;a #i;a


#i;a ð17Þ
j j j j
The interval type-3 FLSs (IT3FLSs) are the generalization
of the conventional GT2FLSs which have more capability zlls ¼aj ¼#l1;aj #li;aj


#li;aj ð18Þ
to handle the high level of uncertainties [43]. In this study,
IT3FLSs are used for online identification of uncertain zlls ¼a ¼#l1;a #li;a


#li;a ð19Þ
j j j j

NSs. The interval type-3 fuzzy sets have one more degree
of freedom in contrast to the conventional general type-2 4.
fuzzy sets. The secondary membership in the interval type-
3 fuzzy sets is an interval type-2 fuzzy set in versus of type-
1 secondary membership in general type-2 fuzzy sets.
Furthermore, the upper and lower levels of footprint of
The output of F^ik ½yðtÞjh1k ðtފ is computed as follows:
F^ik ¼ hik n ð20Þ
where hik represents vector of consequent parameters
and n is the vector of derivative of f^ik with respect to

123
 International Journal of Fuzzy Systems

the consequent parameters. The vectors hik and n are Theorem 1 Consider the ith subsystem and its estimated
defined as: models. The closed-loop ith subsystem is asymptotically
stable, if the adaptation laws are as follows:
hik ¼ ½wik1 ; :::; wikR ; wik1 ; :::; wikR ŠT ; n ¼½f1 ;:::;fR ;f1 ;:::;fR ŠT
ð21Þ Dqik hik ¼ ce^ik n ð24Þ

where wikl and wikl represent the parameters of the lth and there exist variables Hik ; k ¼ 1; :::; K,
rule and R is the number of total rules. fl and fl are vik ; k ¼ 1; :::; K, jik ; k ¼ 1; :::; K and two real scalars
1j ; j ¼ 1; 2, such that:
defined as follows:
P11 P12
 
na zlls ¼a na zlls ¼a
P
aj P j
P
aj P j \0 ð25Þ
R R
P12 P22
   
j¼1 zll ¼a þzll ¼a j¼1 zlls ¼a þzll ¼a
s j s j j s j
fl ¼ l¼1
na
þ na
l¼1

where c is the adaptation rate and
P P
aj þ aj aj þ aj
nT
8 2 39
j¼1 j¼1 >
> ji1 0


0 0 0 >
>
> >
ji1 vi1 0


0 0 0 7>
>
> 6 7>
ð22Þ
>
> 6 >
> 6 7>
>
cn 0 0


0 0 0 7
>
> 6 >
>
> 7>
2 > 6 >
na na zll
< =
zll .. .. .. .. .. .. .. 7
X 6 7
P s ¼aj
P s ¼aj P11 ¼ Sym Xj1
aj P aj P . . . . . . . 7>
6
R
  R
  > 6
j¼1 > 6 7>
j¼1 zlls ¼a þzll ¼a j¼1 zlls ¼a þzll ¼a


jiK nT 7
> >
j s j s
>
> 6 0 0 0 0 >
7>
j j
>
> 6 >
l¼1 l¼1 7>
fl ¼ þ



> >
jiK viK
6
na na
>
>
>
>
4 0 0 0 0 > 5>
>
>
P
P

aj þ aj aj þ aj
: ;
0 0 0


cn 0 0
j¼1 j¼1 wi1 wTi1
8 2 39
>
> 0 0


0 0 0 > >
ð23Þ
> >
>
>
>
> 60
6
0 0


0 0 07 7>
>
>
> 6 7>>
60 0 0


0 0 07
>
> >
>
> >
where na is the number of a-cuts, aj and aj are the 2 >
< 6 7>=
þ
X
1 j I2
6.
6. .. .. .. .. .. .. 7
7
6. . . . . . . 7>
upper and lower of the secondary membership in the j¼1 >
> 7>
wiK wTiK
6



0 07
> 60 >
> 0 0 >
jth a-cut (see Fig. 3), l ¼ 1; :::; R, R is the number of
>
> 6 7>>
> 7>



0 0 0 5>
> 6 >
> 40 0 0
rules, zlls ¼aj , zlls ¼a and zlls ¼a , zlls ¼aj are the lower and
>
> >
>
> >




: ;
j j 0 0 0 0 0 0
the upper rule firings. For more details see [43]. ð26Þ
2 2 3T
0 0 0


0 0 0
6 60 Hi1 0


0 0 07
4 Stability Analysis 6
6
6
6
7
7
6
6
60
6 0 0


0 0 07 7
6. .. .. .. .. .. .. 7
The main stability results are summarized in the following
6
P22 ¼6 6.
6I2 6. . . . . . .7
7
theorem: 6 6 7
6
6
60
6 0 0


0 0 07 7
40 0 0


0 HiK 05
6 6 7
4
0 0 0


0 0 0
1 2 3T 3 ð27Þ
0 0 0


0 0 0
0.8
60
6 Hi1 0


0 0 07 7
7
7
6 7 7
60
6 0 0


0 0 07 7
7
7
0.6 6.
I2 6. .. .. .. .. .. .. 7 7
6. . . . . . .7
7 7
7
0.4
6 7 7
60
6 0 0


0 0 07 7
7
7
40 0 0


0 HiK 05
6 7 7
0.2
5
0 0 0


0 0 0
0
11
 
1
0
P12 ¼ I2 ð28Þ
0 11
0.5

4 6 8
0 -2 0 2
-8 -6 -4

Fig. 3 The interval type-3 membership function [43]

123
A. Mohammadzadeh et al.: A Novel Fractional-Order Multiple-Model Type-3 Fuzzy Control\ldots

Remark 1 It should be noted that, the symbol 0 denotes a 8 q T

D 11 e^ ¼ h~11 n þ e11 j11 e^11
< t 11
>
scalar and 0 represents a vector with zero elements and >
..
appropriate dimension. > .
T
>
: q1K
Proof By substituting (4) into (2), the dynamics of the Dt e^1K ¼ h~1K n þ e1K j1K e^1K
tracking errors are obtained as follows: .. ð34Þ
8 q11 .
D e11 ðtÞ ¼ k11 e11 j11 e^11 8 q
~ T
< t D e^ ¼ hm1 n þ em1
m1
jm1 e^m1
>
< t m1
> >
..
>
. ..
>
: q1K
> > .
Dt e1K ðtÞ ¼ k1K e1K j1K e^1K >
: qmK
~ T
Dt e^mK ¼ hmK n þ emK jmK e^mK
.. ð29Þ
8 qm1 . Consider the ith subsystem and its estimated models, then
D em1 ðtÞ ¼ km1 em1 jm1 e^m1
< t in the matrix form, one has:
>
>
.. 2 qi1 3 2 3
> . Dt e^i1 e^i1
: qmK
> 6 qi1 7
Dt emK ðtÞ ¼ kmK emK jmK e^mK 6 Dt ei1 7 6 ei1 7
6 7
6 qi1
6 Dt h~i1 7 6 h~i1 7
7 6 7
From (2) and by considering optimal fuzzy systems 6 7 6 7

F^ik yðtÞjhik ðtÞ , the dynamics of the estimation errors are
.. 77 ¼ Ai1 6 .. 7
 6 6 7
6
6 . 7 6 . 7 ð35Þ
obtained as follows: 6 qiK
6 Dt e^iK 7
7 6
6 e^iK 7
7
6 7 6 7
  6 qiK
Dt e^11 ðtÞ ¼ F^11 ½yðtÞjh11 ðtފ F^11 yðtÞjh1 ðtÞ
8 q11 
4 Dt eiK 5 4 eiK 5
7 6 7
>
>
DqiK h~iK h~iK
>
q
þDt 1 y1 ðtÞ Dqt 11 y1 ðtÞ j11 e^11
>
>
>
> t
>
<
.. where
> .
  nT
> 2 3
q1K ^ Š F^1K yðtÞjh1 ðtÞ ji1 wi1 Di1 ðtÞ


0 0 01L
> 
>
>
> D t e
^1K ðt Þ ¼ F 1K ½ y ðt Þjh 1K ð t Þ
ji1 ki1 01L


0 0 01L 7
> 6 7
q
>
þDt 1 y1 ðtÞ Dtq1K y1 ðtÞ j1K e^1K
: 6
6 7
6
6 cn 0L1 0LL


0L1 0L1 0LL 77
.. 6
Ai1 ¼ 6 .. .. .. .. .. .. .. 77
. 6 . . . . . . . 7
 
6 7
T 7
Dt e^m1 ðtÞ ¼ F m1 ½yðtÞjhm1 ðtފ F^m1 yðtÞjhm ðtÞ
8 q
^ 0 0 01L


jiK wiK DiK ðtÞ n 7
m1
 6
> 6
>



jiK kiK
6 7
>
q
4 0 0 01L 01L 5
þDt m ym ðtÞ Dtqm1 ym ðtÞ jm1 e^m1
>
>
>
>
>
< 0L1 0L1 0LL


cn 0L1 0LL
.. ð36Þ
> .
 
>
> Dt e^mK ðtÞ ¼ F^mK ½yðtÞjhmK ðtފ F^mK yðtÞjhm ðtÞ
qmK
> 
>
>
> Consider Lemma 4, and define Q12 ¼ Q22 ¼ 0 and:
q
>
þDt m ym ðtÞ Dqt mK ym ðtÞ jmK e^mK
: 2 3
1 0 0


0 0 0
ð30Þ 60 H
6 i1 0


0 0 07 7
6 7
From (20), one has:
60 0
6 1


0 0 07 7
6. .. .. .. .. .. .. 7
 T 6 ..
Q11 ¼ Q21 ¼ 6 . . . . . .7 ð37Þ
7
F^ik ½yðtÞjhik ðtފ F^ik yðtÞjhi ðtÞ ¼ h~ik n

ð31Þ 6 7
i ¼ 1; :::; m; k ¼ 1; :::; K
60 0
6 0


1 0 07 7
40 0 0


0 HiK 0 5
6 7
The approximation error eik , i ¼ 1; :::; m; k ¼ 1; :::; K is
0 0 0


0 0 1
defined as follows:
q Then the system (35) is asymptotically stable if:
eik ¼ Dt i yi ðtÞ Dqt ik yi ðtÞ ð32Þ

It is assumed that:
eik ¼ wik Dik ðtÞeik ; jDik ðtÞj  1 ð33Þ

where wik is a constant. This assumption is logical, because

the effect of the approximation error is seen on the tracking
error. Considering (31) and (32), the dynamics of the
estimation errors are rewritten as follows:

123
 International Journal of Fuzzy Systems

nT
2 3 2 31
0


0 0 0


0 0 0
8 2 3
> ji1 wi1 Di1 ðtÞ


0 0 0 0 0 0 0 0
> 6 0 D ðt Þ 0


0 0 07 7 60 Hi1 0


0 0 0 7
> 6 C
ji1 ki1 0


0 0 0 7
>
> 6 7 6 i1 7C
>
> 6 6 7 6 7C
60 0 0


0 0 07 7 60 0 0


0 0 0 7C
> 6 7
cn 0 0


0 0 0 7
>
> 6 6 7
> 6 C
2 > 6. .. .. .. .. .. .. 7
7
6 .. .. .. .. .. .. .. 7
< 6 7 6 C
.. .. .. .. .. .. .. 7 6 ..

6
X 6
Sym Xj1 . . . . . .7 6. . . . . . . 7C
7C
. . . . . . . 7
6 7
6 6 7 6 7C



0 0


0 0 0 7
j¼1
> 60 0
> 6 7 0 0 0 07 7 60
nT 7
6 C



jiK wiK DiK ðtÞ
>
>
> 6 0 0 0 6 7C
0


0 DiK ðtÞ 0 5 4 0 0 0


0 HiK 0 5A
>
40 0
> 6 7 6 7 6 7C




>
jiK kiK
6 7
>
> 4 0 0 0 0 5
00 0


0 0 0 0 0 0


0 0 0
>
>
:
0 0 0


cn 0 0 80 2 31
2 39 0 wi1 0


0 0 0



0
>
1 0 0 0 0 > >
>
>
>
>
>
>
B
B
60
6 0 0


0 0 0 7 7C
C
60 H 0


0 0 07 > >
i1
>B 6 7C
7> 60 0 0


0 0 0 7
6 > >
> B C
6 7>> >



0
>
<B 6 7C
60 0 1 0 07
>
> B 6. .. .. .. .. .. .. 7 C
¼ Sym B 6.
BXj1
7>>
6. . . . . . . 7C
6 = 7C
6. .. .. .. .. .. .. 7 \0
7
6. >
6. . . . . . . 7>
> B 6 7C
60 0 0


0 wiK 0 7
>
> B C
6 7> >
> B 6 7C
>
60 0 0


1 0 07
>
40 0 0


0 0 0 5A
> >
> B 6 7C
6 7>> >
> @
7> >
40 0 0


0 HiK 0 5>
>
0


0 0 0
6 :
>
> 0 0
>



0
;
0 0 0 0 1 0 2
0 0 0


0 0 0
31

ð38Þ B
B
6 0 D ðt Þ
6 i1 0


0 0 07 7C
C
B 6 7C
B 60 0 0


0 0 07 C
where 0 and 1 are the zero and unit matrix with compatible B
B
6
6.
6. .. .. .. .. .. .. 7
7C
C

B
B I2 6. . . . . . . 7C
7C
dimensional. The inequality (38) can be rewritten as follows: B 6 7C
B
B
60
6 0 0


0 0 07 7C
C
nT



8 2 39
>
> ji1 0 0 0 0 >
>
B
@ 40
6
0 0


0 DiK ðtÞ 0 5A
7C
> >
ji1 ki1 Hi1 0


0 0 0 0 0 0


0 0 0
> 6 7>
ð40Þ
>
> 6 7>>
> 7> 0 2 319
0 0 0


0 0 0
> 6 >
cn 0 0


0 0 07
>
> 6 >
> >
> 7> >
2 > 6 > C>
X < 6 .. .. .. .. .. ..
=
.. 7 þ
7 B 60 H
i1 0


0 0 07 >
>
Sym Xj1
B 6 7C>
7C>
. . . . . . . 7>
6 B 6 >
60 0 0


0 0 0 7C>
6 B 7 C>
> >
j¼1 > 6 7> B 6 >
nT 7
=
0


jiK 6. .. .. .. .. .. .. 7C
> >
> 6 0 0 0 > B

B 6.
7 C
BI2
> 7>
>
> 6
7>
> 6. . . . . . . 7C>
0



> >
jiK kiK HiK
6
>
>
> 4 0 0 0 5> >
>
B
B
6
60 0 0


0 0 07
7C>
C>
>
>
: >
; B 6 7C>>
0 0 0


cn 0 0 B
@ 40 0
6
0


0 HiK 0 5A>
7C>>
>
>
8 2 39 >
>
> 0 wi1 Di1 ðtÞHi1 0


0 0 0 > > 0 0 0


0 0 0
;
> >
>
> 60 0 0


0 0 07 7>
>
Form (33), one has:
>
> 6 >
> 6 7> >
60 0 0


0 0 07
>
> >
>
>
> 6 7> >
2 0 2 31
0 0 0


0 0 0
< 6. =
P
Sym Xj1 6. .. .. .. .. .. .. 7 \0
7
6. . . . . . . 7> B 60 Di1 ðtÞ 0


0 0 07 C
j¼1 >
> 6 7> B 6 7C
60 0 0


0 wiK DiK ðtÞHiK 07
>
> >
> B 6 7C
>
>
> 6 7>
7>
> B 60 0 0


0 0 0 7C
7
0


0
B 6 C
40 0 0 0 5>
> 6 >
>
> > B 6. .. .. .. .. .. .. 7C
> > B I2 6.
6. . . . . . . 7C
> > 7C
0


0
: ;
0 0 0 0
B
B 6 7C
B 60 0 0


0 0 07 C
ð39Þ B
B
@
6
40
6
0 0


0 DiK ðtÞ
7C
0 5A
7C

Rewrite the second term in (39), as follows: 0 0 0


0 0 0

0 2 31T
8 2 39 0 0 0


0 0 0
0 wi1 Di1 ðtÞHi1 0


0 0 0 > 60 Di1 ðtÞ 0


0 0 07
>
> > B C
> >
0



60 B 6 7C
>
> 0 0 0 07 7>
> B 6 7C
60 0 0


0 0 07
>
> 6 >
> 6 7>> B C
60 0 0


0 0 0 7>
>
> 7 > B 6 7C
> > B 6. .. .. .. .. .. .. 7 C
> 6 >

B 6.
BI 2
< 6. =
.. .. .. .. .. .. 7 6. . . . . . . 7C
7C
Sym Xj1 6.
6. . . . . . . 7>
7 B 6 7C
>
> 6 7> B 60 0 0


0 0 07 C
60 0 0


0 wiK DiK ðtÞHiK 07
>
> >
> B 6 7C
> 7> 40 0 0


0 DiK ðtÞ 0 5A
>
> 6 > B 6 7C
7> @
40 0 0


0 0 0 5>
>
> 6 >
> >
>
> >
> 0 0 0


0 0 0
0


0
: ;
0 0 0 0 0 2 31
8 02 3 0 0 0


0 0 0
0 wi1 0


0 0 0 60 DTi1 ðtÞDi1 ðtÞ 0


0 0 07
>
> B C
>



0
B6 0 B 6 7C
>
> 0 0 0 07 B 6 7C
60 0 0


0 0 07
>
> B6 7 B C
> B6 7
B6 0 0 0


0 0 07
>
> B 6 7C
> B 6. .. .. .. .. .. .. 7 C
> B6 7
¼B 6. 7C  I
BI2
< B6 .
¼ Sym Xj1 B6 . .. .. .. .. .. .. 7 6. . . . . . . 7C
B6 . . . . . . .7
7 B 6 7C
>
> B6 7 B 60 0 0


0 0 07 C
B6 0 0 0


0 wiK 07
>
> B 6 7C
DTiK ðtÞDiK ðtÞ 0 5A
>
40 0 0


0
>
> B6 7 B 6 7C
@
@4 0 0 0


0 0 05
>
> B6 7
>
>
> 0 0 0


0 0 0



0
:
0 0 0 0 0
ð41Þ
From (40) and (41) and Lemma 3, one has:

123
A. Mohammadzadeh et al.: A Novel Fractional-Order Multiple-Model Type-3 Fuzzy Control\ldots

nT
8 2 39
0 wi1 Di1 ðtÞHi1 0


0
8 2 39
>
> 0 0 > > >
>
>
ji1 0


0 0 0 >
>
>
ji1 ki1 Hi1 0


0 0 0 7>
> > > 6 7>
60 0 0


0 0 07
>
> > >
> 6 >
> 6 7>> >
> 6 7>>
cn 0 0


0 0 0 7
>
> 6 7>> >
> 6 >
>
60 0 0


0 0 0 7> 7>
>
2
>
> 7 > >
< 6 >
=
.. .. .. .. .. .. .. 7
> > X 6 7
>
< 6
6.
>
= Sym Xj1 6
. . . . . . . 7>
Sym Xj1 6. .. .. .. .. .. .. 7
7
j¼1
>
>
6
7>
6. . . . . . . 7>
6



jiK nT 7
> >
>
>
>
>
6
6 0 0 0 0 7>
>
>
> 6 7> > 7>




> >
0


0 wiK DiK ðtÞHiK jiK kiK Hi1
6
>
>
> 60 0 07
>
> >
>
> 4 0 0 0 0 5> >
>
> 6 7>> >
: >
;
0 0 0


cn 0 0
> 7>
40 0 0


0 0 0 5>
>
> 6 >
> >
wi1 wTi1
8 2 3
0 0


0 0 0
>
> >
>
0


0
: ; >
0 0 0 0 >
>
>
>
> 60
6
0 0


0 0 07 7
0 2 31 >
0 wi1 0


0 0 0 >
>
>
>
6
60 0 0


0 0 07
7
2 >
< 6 7
B 6 0 0 0


0 0 0 7C
þ
X
1 j I2
6.
6. .. .. .. .. .. .. 7
6. . . . . . .7
B 6 7C 7
B 6 7C j¼1 >
>
B 6 0 0 0


0 0 0 7C >
>
>
>
6
60 0 0


0 wiK wTiK 07
7
B 6 7C > 6 7
B 6 . . . . . . . 7C >
> 6
40 0 0


0 0 05
7
1j BXj1 6 .. .. .. .. .. .. .. 7
B 6 C >
>
>




:
B 6
7C
7C 0 0 0 0 0 0
B 6 0 0 0


0 w 0 7C 0 2
0 0 0


0 0 0
31T
B 6 iK 7C
4 0 0 0


0 0 0 5A Hi1



B 6 7C B 60 0 0 0 07 C
@ B 6 7C
B 6 7C
60 0 0


0 0 0 7C
0 0 0


0 0 0
B 7
B 6 C
6. .. .. .. .. .. .. 7
þ 1j 1 B
B C
6.
BI2
0 2 3 1T 6. . . . . . . 7C
7C
0 wi1 0


0 0 0 B 6 7C
B 6 0 0 0


0 0 0 7C B
B
60
6 0 0


0 0 07 C
7C
40 0 0


0 HiK 0 5A
B 6 7C B 6 7C
B 6 7C @
B 6 0 0 0


0 0 0 7C 0 0 0


0 0 0
B 6 7C
B 6 . . . . . . . 7C 0 2
0 0 0


0 0 0
319

BXj1 6 .. .. .. .. .. .. .. 7
B 6 C
C>
>
>
60 Hi1 0


0 0 07
7C B >
B 6 7C B 6 7C> >
B 6 0 0 0


0 w 0 7C B 6
60 0 0


0 0
7C>
0 7C>
>
>
B 6 iK 7C B
B 6
7 C >
>
6. .. .. .. .. .. .. 7 C=
4 0 0 0


0 0 0 5A
B 6 7C B

B 6.
BI2
7C \0
@ 6. . . . . . . 7C>
0 0 0


0 0 0
B 6 7C>
B
B
60
6 0 0


0 0 07 C>
7C>
>
>
3 1T 7C>
40 0 0


0 HiK 0 5A>
0 2 B 6 >
0 0 0


0 0 0 @ >
>
>




;
B 6 0 H 0


0 0 0 7C 0 0 0 0 0 0
B 6 i1 7C
B
B
6
6 0 0 0


0 0 0 7C
7C ð43Þ
B 6 7C
1B
B 6 . . . . . . . 7C The second term in (43), can be rewritten as follows:
þ 1j BI2 6 .. .. .. .. .. .. .. 7
6
7C
C
0 2 3 1T
B
B
6
6 0 0 0


0 0 0 7C
7C 0 0 0


0 0 0
B 6 7C
B
@ 4 0 0 0


0 HiK 0 5A
6 7C B
B
60 H
6 i1 0


0 0 07 7C
C
B 6 7C
60 0 0


0 0 07
0 0 0


0 0 0
B C
2 B 6 7C
6. .. .. .. .. .. .. 7C
X
1j 1 B
0 2 31 B 6 7
0 0 0


0 0 0 BI2 6 .. . . . . . . 7C
C
B 6 0 H 0


0 0 0 7C j¼1 B 6 7C
B 6 i1 7C B 60 0 0


0 0 07 C
B 6 7C B 6 7C
6 0 0 0


0 0 0 7C
4 0 0 0


0 HiK 0 5A
B B 6 7C
B 6 7C @
B 6 . . . . . . . 7C

B I . . .
B 2 6 . . . . . . . 7C
6 . . . . 7C 0 0 0


0 0 0
0 2 31
B
B
6
6 0 0 0


0 0 0 7C
7C 0 0 0


0 0 0
B 6 7C
B
@ 4 0 0 0


0 HiK 0 5A
6 7C B
B
60 H
6 i1 0


0 0 07 7C
C
B 6 7C
60 0 0


0 0 07
0 0 0


0 0 0
B C
B 6 7C
B 6. .. .. .. .. .. .. 7C
7
ð42Þ
BBI2 6 .. . . . . . . 7C
6 C
B 6 7C
From (42) and considering the fact that B 60 0 0


0 0 07 C
B 6 7C
Xj1 XTj1 ¼ I2 ; j ¼ 1;2, the inequality (39), becomes: 4 0 0 0


0 HiK 0 5A
B 6 7C
@
0 0 0


0 0 0

123
 International Journal of Fuzzy Systems

2 2
0 0 0


0 0 0
3T 5.1 Normal Simulation
6 60 Hi1 0


0 0 07
Example 1 The dynamics of the first and second states of
6 6 7
6 6 7
6
6
60
6 0 0


0 0 07 7 the hyperchaotic Lorenz system are considered as the
6 6. .. .. .. .. .. .. 7
¼6 6. dynamics of the under control plant and the dynamics of
6I2 6. . . . . . .7
7
6 6 7 the other states are considered as the unmodeled dynamic
6 60 0 0


0 0 07
6 6 7 subsystem. Then one has:
40 0 0


0 HiK 05
6 6 7
4
0 0 0


0 0 0 Dt0:97 x1 ¼ 10ðx2 x1 Þ þ 12 þ u1
ð45Þ
2
0 0 0


0 0 0 T
3 3T Dt0:97 x2 ¼ 28x1 x2 x 1 1 1 þ u2
60
6 Hi1 0


0 0 07 7
7 7 where the unmodeled dynamics are:
6 7 7
60
6 0 0


0 0 07 7
7 7 Dt0:97 11 ¼ x1 x2 8=311 ; Dt0:97 12 ¼ x 2 11 12 ð46Þ
6. .. .. .. .. .. .. 7 7
7
I2 6.
6. . . . . . .7 7
7
6 7 7 where the initial conditions are as x1 ð0Þ ¼ 0:61 x2 ð0Þ ¼
60
6 0 0


0 0 07 7
7 7 0:21 x3 ð0Þ ¼ 0:61 and x4 ð0Þ ¼ 0:21. The control condi-
40
6
0 0


0 HiK 05 5
7 7 tions and IT3FLS parameters are shown in Tables 1 and 2,
0 0 0


0 0 0 respectively. The reference signals are r1 ¼ 0:5 sinð2tÞ þ
1 0:5 cosð2:5tÞ and r2 ¼ 1=3 sinð3tÞ þ cosðtÞ. The tracking
11
  
0 performance and the trajectories of the outputs of the

I2
0 11 system are depicted in Fig. 4. The trajectories of the real
2 2 3T outputs and the estimated outputs are shown in Fig. 5. The
0 0 0


0 0 0
trajectories of the control signals are given in Fig. 6. As it
6
6
60
6 Hi1 0


0 0 07 7 is seen from Figs. 4, 5, 6, the trajectories of the outputs of
6 6 7
6
6
60
6 0 0


0 0 07 7 the system (y1 and y2 ) are well track the reference signals
6. .. .. .. .. .. .. 7 r1 and r2 and the control signals u1 and u2 have a good
6

6 6.
6I2 6. . . . . . .7
7
6 6 7 smooth shapes. Also the trajectories of the outputs of the
6
6
60
6 0 0


0 0 07 7 estimated system (y^1 and y^2 ) are well converged to the
40 0 0


0 HiK 05
6 6 7
4 trajectories of real outputs of the system (y1 and y2 ). For
0 0 0


0 0 0 further examination, the estimation and tracking errors are
2 3T 3 ð44Þ compared using different kind of fuzzy systems in Table 3.
0 0 0


0 0 0
On can see that the suggested controller using IT3FLS
60 Hi1 0


0 0 07 7
6
6
7 7
7 7 results in better tracking and estimation performance
60
6 0 0


0 0 07 7 7
7 especially in the high noisy condition. It should be noted
6. .. .. .. .. .. .. 7 7
7
I2 6.
6. . . . . . .7 7
7
6 7 7
60
6 0 0


0 0 07 7 7
7
40
6
0 0


0 HiK 05 5
7 7 Table 1 Control parameters

0 0 0


0 0 0 Parameter Value Equation Parameter Value Equation

The by setting vik ¼ kik Hik ; k ¼ 1; :::; K and considering kik 500 (4) jik 100 (2)
(43)–(44) and Lemma 2, the inequality (25) is obtained and K 5 (4) c 10 (24)
this completes the proof.h R 3 (22) nþa 3 (22)

5 Simulations
Table 2 IT3FLS parameters
In this section one normal simulation, one real-time sim-
a 2 ½0:75; 0:9; 1Š, a 2 ½0; 0:25; 0:5Š
ulation and one experimental verification is presented to
demonstrate the good performance and the effectiveness of c1wi ¼ 1; c2wi ¼ 0; c3wi ¼ 0; i ¼ 1; 2, na ¼ 3; R ¼ 3
the suggested control technique. rhwi ;0 ¼ 1; i ¼ 1; 2; h ¼ 1; 2; 3, rhwi ;0 ¼ 1; i ¼ 1; 2; h ¼ 1; 2; 3

123
A. Mohammadzadeh et al.: A Novel Fractional-Order Multiple-Model Type-3 Fuzzy Control\ldots

1 y1 r1

-1
0 2 4 6 8 10 12 14 16 18 20
Time(s)
y2 r2
1

-1

0 2 4 6 8 10 12 14 16 18 20
Time(s)

Fig. 4 Example 1: the trajectories of the outputs and reference signals

-1
0 2 4 6 8 10 12 14 16 18 20
Time(s)
1

-1
0 2 4 6 8 10 12 14 16 18 20
Time(s)

Fig. 5 Example 1: the trajectories of the real and estimated outputs

50 u1

-50

2 4 6 8 10 12 14 16 18 20
Time(s)
50 u2

-50
2 4 6 8 10 12 14 16 18 20
Time(s)

Fig. 6 Example 1: the trajectories of the control signals

123
 International Journal of Fuzzy Systems

Table 3 Example 1: the value of root mean square of estimation and different values of fractional-order. Also one dynamic
tracking errors on basis of different fuzzy systems and noisy model with integer-order is considered. The values of root
conditions
mean-square-errors (MSEs) are given in Table 4. As it is
Noise power Error signal Fuzzy system observed, the estimation performance is changed with
T2FLS GT2FLS IT3FLS changes of the value of the FO and the dynamic model with
FO q ¼ 0:5 results in better accuracy in the versus of other
0 e1 0.03421 0.0312 0.0301 models. The trajectories of the estimation errors for dif-
e2 0.0131 0.0132 0.0131 ferent models are depicted in Fig. 7. It is seen that the
e^1 0.0095 0.0094 0.0095 integer-order dynamic model has the worst performance.
e^2 0.0124 0.0119 0.0115 For further examination, the superiority of the designed
0.01 e1 0.0453 0.0335 0.0322 controller is shown by a comparison with some new similar
e2 0.0273 0.0223 0.0145 control systems. The suggested controller is compared with
e^1 0.0267 0.0234 0.0113 the fractional-order type-2 fuzzy controller [44] and frac-
e^2 0.0314 0.0224 0.0131 tional-order Takagi–Sugeno (T–S) fuzzy controller [45].
0.1 e1 0.0981 0.0634 0.0464 The methods of [44] and [45] are applied on the system
e2 0.0785 0.0247 0.0236 (45) with same simulation conditions. The trajectories of
e^1 0.0478 0.0347 0.0215 signals y1 , y2 by various controller with reference signals
e^2 0.0563 0.0384 0.0227 are depicted in Fig. 8. Also a numerical comparison is
given in Table 5. It is seen that the suggested controller has
better control proficiency.

Table 4 Example 1: the value of root mean square of estimation Example 2 To examine the suggested control system on
error y1 y^1 on basis of different values of the FO q in dynamic fuzzy
integer-order systems, it is applied on the integer-order
model, in a without control mode
chaotic model of the brushless DC motors. The dynamics
q t2 of the first and second states are considered as the
½0; 5sŠ ½0; 10sŠ ½0; 15sŠ ½0; 20sŠ dynamics of the under control plant and the dynamics of
the third state are considered as the unmodeled dynamics.
0.9 0.3719 0.3411 0.3374 0.3360
Then one has:
0.8 0.4819 0.4410 0.4345 0.4320
0.7 0.4874 0.4459 0.4388 0.4362 x_1 ¼ f1 ðx1 ; x2 ; 11 Þ þ u1 ; x_2 ¼ f2 ðx1 ; x2 ; 11 Þ þ u2 ð47Þ
0.6 0.2593 0.2376 0.2336 0.2322
0.5 0.2100 0.1928 0.1896 0.1883 where the nonlinear f1 and f2 are as follows:
Integer-order 0.6008 0.5495 0.5410 0.5375 f1 ¼ 0:16 x1 x2 11 þ 5811 ; f2 ¼ 21 0:23x2 þ x1 11
ð48Þ
The dynamics of the unmodeled subsystem are as follows:
that the white noise with different noise power is added to
1_1 ¼ 4:4ðx1 11 Þ þ 0:8x1 x2 0:52 ð49Þ
control signals as disturbance.
To show the effect of the value of fractional-order in where the initial conditions are as: x1 ð0Þ ¼ 3:65,
estimation performance, in a without control mode, the first x2 ð0Þ ¼ 56, 1ð0Þ ¼ 0:35. The tracking performance and the
output y1 is estimated by fuzzy dynamic models with

3
q=0.9 q=0.8 q=0.7 q=0.6 q=0.5 Integer-order
2
1
0
-1
-2
-3
0 0.5 1
Time(s)

Fig. 7 Example 1: the trajectories of the estimation error y1 y^1 on basis of different values of the fractional-order q in dynamic fuzzy model, in
a without control mode

123
A. Mohammadzadeh et al.: A Novel Fractional-Order Multiple-Model Type-3 Fuzzy Control\ldots

Proposed method Typ-2 fuzzy control T-S fuzzy control Reference

1

0.5

1
y
0

-0.5

-1
0 2 4 6 8 10 12 14 16 18 20
Time (s)

0.5
2
y

-0.5

-1
0 2 4 6 8 10 12 14 16 18 20
Time (s)

Fig. 8 Example 1: the trajectories of signals y1 , y2 with various controllers and reference signals r1 and r2

Table 5 Example 1: the value of root mean square of estimation model are shown in Fig. 11. It is seen that the fractional
error yi ri ; i ¼ 1; 2 by different controllers calculus improves the estimation performance (Table 7).
Signal
5.2 Real-Time Simulation
y1 y2

Proposed method 0.0464
Type-2 fuzzy control [44] 0.1018
T–S fuzzy control [45] 0.1886
trajectories of the control signals are depicted in Figs. 9
and 10, respectively. It is observed that a good tracking
accuracy is achieved. Similar to Example 1, to show the
effect of the value of fractional-order in estimation per-
formance, the first output y1 is estimated by fuzzy dynamic
models with different values of fractional-order, in a
without control mode. Also one dynamic model with
integer-order is considered. The values of RMSEs are
given in Table 6. The trajectories of the estimation error
y1 y^1 , on basis of different FOs q in dynamic fuzzy
0.0236 Example 3 In this example, the efficiency of suggested
0.0312 controller is examined by a real-time simulation on the
0.0472 Arduino Mega board. The block diagram is depicted in
Fig. 12. The Matlab and Arduino board are communicated
as the serial communication. The generated control signals
by Matlab are sent to Arduino board and the outputs of the
system are got back to Matlab. The proposed method is
applied on the integer-order chaotic model of the brushless
DC motors that is given in Example 2.
The reference system dynamics are:
r_1 ¼ 0:168 r1 r2 11 þ 60v; r_2 ¼ 20:66 0:26r2 þ r1 v
v_ ¼ 4:55ðr1 vÞ þ 0:875r1 r2 0:53
ð50Þ

4
y1 r1
2

-2

0 2 4 6 8 10 12 14 16 18 20
Time(s)
60
y2 r2
40

20

0
0 2 4 6 8 10 12 14 16 18 20
Time(s)

Fig. 9 Example 2: the tracking performance

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 International Journal of Fuzzy Systems

0 u1

-100

-200
2 4 6 8 10 12 14 16 18 20
Time(s)

500
u2

-500
2 4 6 8 10 12 14 16 18 20
Time(s)

Fig. 10 Example 2: the trajectories of the control signals

Table 6 Example 2: the value of root mean square of estimation

Table 7 Example 3: the value of root mean square of estimation
error y1 y^1 on basis of different values of the FO q in dynamic fuzzy
error y1 y^1 on basis of different values of the fractional-order q in
model, in a without control mode
dynamic fuzzy model, in a without control mode
q t2
0.9 0.8 0.7 0.6 0.5 Integer-order
½0; 5sŠ ½0; 10sŠ ½0; 15sŠ ½0; 20sŠ
0.8741 0.8637 0.8681 0.8572 0.8501 0.8917
0.9 0.3646 0.3706 0.3685 0.3710
0.8 0.4690 0.4802 0.4783 0.4822
0.7 0.4742 0.4856 0.4837 0.4876
0.6 0.2568 0.2587 0.2564 0.2579 fractional-order is examined in identification process in
0.5 0.2097 0.2095 0.2071 0.2080 Table 8 and the effectiveness of the fractional calculus is
Integer-order 0.5822 0.5985 0.5968 0.6018 shown.

5.3 Experimental Examination

Example 4 In this example, the suggested control

where the initial conditions are as: r1 ð0Þ ¼ 3:63,
scheme is practically applied on a heat transfer system. The
r2 ð0Þ ¼ 56:02, vð0Þ ¼ 0:29, x1 ð0Þ ¼ 3:65, x2 ð0Þ ¼ 56,
block diagram is depicted in Fig. 14. The proposed
1ð0Þ ¼ 0:35. The trajectories of outputs and reference
experimental setup is given in Fig. 15. The output is tem-
signals are shown in Fig. 13. One can observes that, output
perature and the control signal is the voltage of a heater.
trajectories well track the trajectories of the reference
The voltage of the fan acts as an disturbance and unmod-
signals. It should be noted that, these results are achieved,
eled dynamic system. The trajectories of the reference
while (1) the system dynamics are considered to be fully
signal and output are shown in Fig. 16. One can see that,
unknown, (3) the dynamics are disturbed by unmodeled
output trajectory well tracks the target signal. It must be
dynamics (3) the controller is applied as real-time, and (4)
noted that, the plant dynamics are considered to be fully
the reference signals are the outputs of a chaotic system.
unknown and are disturbed by the external perturbations.
Also, similar to the Examples 1, 2, the effect of value of

4
q=0.9 q=0.8 q=0.7 q=0.6 q=0.5 Integer-order

-2
0 1 2 3 4 5
Time(s)

Fig. 11 Example 2: the trajectories of the estimation error y1 y^1 , on basis of different values of the fractional-order q in dynamic fuzzy model,
in a without control mode

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A. Mohammadzadeh et al.: A Novel Fractional-Order Multiple-Model Type-3 Fuzzy Control\ldots

Fig. 12 Example 3: the block diagram of the real-time simulation

y1 r1
10

-10
0 2.5 5
Time (s)
y2 r2

65

60

55
0 2.5 5
Time (s)

Fig. 13 Example 3 (real-time simulation): the outputs signals, yi ; i ¼ 1; 2 and reference signals ri

Table 8 Example 4: the value of root mean square of estimation error y1 y^1 on basis of different values of the FO q in dynamic fuzzy model,
in a without control mode
0.9 0.8 0.7 0.6 0.5 Integer-order

0.4557 0.4509 0.4486 0.4475 0.4472 0.4714

Fig. 14 Example 4: the block diagram of the experimental examination

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 International Journal of Fuzzy Systems

6 Discussion

In various studies, the effectiveness of fractional-order

Fig. 15 Example 4: the experimental setup
The real trajectory and estimated one are shown in Fig. 17.
It is seen that, the trajectory of the approximated temper-
ature is well converged to the real temperature. This
example demonstrates that the proposed control system has
good capability to be used in practical problems. Also,
similar to the previous examples, the effect of value of
fractional-order in the identification process is shown
Table 8.
calculus has been demonstrated in modeling of physical
systems. Motivation by this concept, in this paper, a control
system is proposed for nonlinear systems with unknown
dynamics and a fractional-order fuzzy multiple model is
suggested for online dynamic identification. Based on the
identified model a robust controller is designed such that,
the effect of perturbations and approximation errors are
well tolerated. In two simulation examples and two
experimental examinations the superiority and effective-
ness of the suggested control system are verified. In all
examples the dynamics are assumed to be fully unknown
and also some disturbances are considered. The well con-
vergence of output signals into the reference signals in the
presence of dynamic uncertainties and perturbations
ensures the applicability of the designed control system.
7 Conclusion
In this study, a class of NSs with unmodeled dynamics is
considered. The novel multiple models based on the first-
order dynamic fractional-order fuzzy models are obtained
for online identification of the system. The interval type-3
fuzzy systems (IT3FLSs) are used to construct the fuzzy
dynamic models. The closed-loop stability is analyzed
based on a linear matrix inequality approach and some

40 y r

30

20

10

0
0 10 20 30 40 50 60 70 80 90 100
Time (s)

Fig. 16 Example 4: the trajectories of the output and reference signal

40

30

20

10

0
0 10 20 30 40 50 60 70 80 90 100
Time (s)

Fig. 17 Example 4: the trajectories of the real and estimated output

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A. Mohammadzadeh et al.: A Novel Fractional-Order Multiple-Model Type-3 Fuzzy Control\ldots
adaptation laws are obtained for tuning the consequent
parameters of IT3FLSs. Four examples are given to eval-
uate the performance and effectiveness of the suggested
scheme. In the first one, the proposed controller is applied
on the hyperchaotic Lorenz system with unmodeled
dynamics, in the second one the proposed method is
applied on the chaotic dynamic of the brushless DC motors,
in third one, the proposed method is applied on mathe-
matical model of the brushless DC motors that is imple-
mented on the Arduino Mega boards in real-time approach
and finally in the fourth one the proposed controller is
practically applied on heat transfer system with fully
unknown dynamics. It is seen that the suggested approach
has good performance to be used in practical applications.
In this study the structure of the IT3FLSs is considered to
be fixed. Also the effect of time-delay in unmodeled
dynamics are neglected. For the future studies, the structure
optimization of the IT3FLS can be considered, such that
the rule database and also the antecedent parameters can be
online tuned. Also to improve the control performance and
ability, the effect of time-delay in control signals and
unmodeled states can be more investigated.
Compliance with ethical standards
Conflict of interest ‘‘The authors declare that they have no conflict
of interest’’.
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27. Zarandi, M.F., Soltanzadeh, S., Mohammadi, A., Castillo, O.: Ardashir Mohammadzadeh
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type-2 fuzzy sugeno integral for edge detection. J. Imaging 5(8), research interests include: fuzzy
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30. Chen, Y., Wang, D.: Forecasting by designing mamdani general computing. Email:
type-2 fuzzy logic systems optimized with quantum particle a.mzadeh@ubonab.ac.ir
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41(10), 2886–2896 (2019)
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adaptive robust mixed h2/H1 general type-2 fuzzy control of Habilitatus) in Computer Sci-
uncertain nonlinear systems. Appl. Soft Comput. 72, 392–418 ence from the Polish Academy
(2018) of Sciences (with the Disserta-
33. Dian, S., Hu, Y., Zhao, T., Han, J.: Adaptive backstepping control tion ‘‘Soft Computing and
for flexible-joint manipulator using interval type-2 fuzzy neural Fractal Theory for Intelligent
network approximator. Nonlinear Dyn. 1–14 (2019) Manufacturing’’). He is a Pro-
34. Adolfsson, K., Enelund, M., Olsson, P.: On the fractional order fessor of Computer Science in
model of viscoelasticity. Mech. Time-dependent Mater. 9(1), the Graduate Division, Tijuana
15–34 (2005) Institute of Technology,
35. Chen, W.-C.: Nonlinear dynamics and chaos in a fractional-order Tijuana, Mexico. In addition, he
financial system. Chaos Solitons Fractals 36(5), 1305–1314 is serving as Research Director
(2008) of Computer Science and head
36. Freeborn, T.J., Maundy, B., Elwakil, A.S.: Fractional-order of the research group on Hybrid
models of supercapacitors, batteries and fuel cells: a survey. Fuzzy Intelligent Systems. Currently, he is President of HAFSA
Mater. Renew. Sustain. Energy 4(3), 9 (2015) (Hispanic American Fuzzy Systems Association) and Past President
37. Aghababa, M.P., Borjkhani, M.: Chaotic fractional-order model of IFSA (International Fuzzy Systems Association). Prof. Castillo is
for muscular blood vessel and its control via fractional control also Chair of the Mexican Chapter of the Computational Intelligence
scheme. Complexity 20(2), 37–46 (2014) Society (IEEE). He also belongs to the Technical Committee on
38. Yu, W., Luo, Y., Pi, Y.: Fractional order modeling and control for Fuzzy Systems of IEEE and to the Task Force on ‘‘Extensions to
permanent magnet synchronous motor velocity servo system. Type-1 Fuzzy Systems’’. He is also a member of NAFIPS, IFSA and
Mechatronics 23(7), 813–820 (2013) IEEE. He belongs to the Mexican Research System (SNI Level 3).
39. Aguila-Camacho, N., Duarte-Mermoud, M.A., Gallegos, J.A.: His research interests are in Type-2 Fuzzy Logic, Fuzzy Control,
Lyapunov functions for fractional order systems. Commun. Neuro-Fuzzy and Genetic-Fuzzy hybrid approaches. He has published
Nonlinear Sci. Numer. Simul. 19(9), 2951–2957 (2014) over 300 journal papers, 10 authored books, 50 edited books, 300
40. Boyd, S.P., El Ghaoui, L., Feron, E., Balakrishnan, V.: Linear papers in conference proceedings, and more than 300 chapters in
matrix inequalities in system and control theory, Vol. 15, SIAM edited books, in total more than 930 publications. He has been Guest
(1994) Editor of several successful Special Issues in the past, like in the
41. Xie, L.: Output feedback H-infinity control of systems with following journals: Applied Soft Computing, Intelligent Systems,
parameter uncertainty. Int. J. Control 63(4), 741–750 (1996) Information Sciences, Soft Computing, Non-Linear Studies, Fuzzy
42. Lu, J.-G., Chen, Y.-Q.: Robust stability and stabilization of Sets and Systems, JAMRIS and Engineering Letters. He is currently
fractional-order interval systems with the fractional order a: The Associate Editor of the Information Sciences Journal, Applied Soft
0  a  1 case. IEEE Trans. Auto. Control 55(1), 152–158 (2010) Computing Journal, Journal of Engineering Applications on Artificial
43. Mohammadzadeh, A., Sabzalian, M. H., Zhang, W.: An interval Intelligence, Granular Computing Journal and the IEEE Transactions
type-3 fuzzy system and a new online fractional-order learning on Fuzzy Systems. He has been elected IFSA Fellow and MICAI
algorithm: theory and practice. IEEE Trans. Fuzzy Syst. https:// Fellow member last year. Finally, he recently received the Recogni-
doi.org/10.1109/TFUZZ.2019.2928509 tion as Highly Cited Researcher in 2017 and 2018 by Clarivate
44. Sabzalian, M.H., Mohammadzadeh, A., Lin, S., Zhang, W.: Analytics and Web of Science.
Robust fuzzy control for fractional-order systems with estimated
fraction-order. Nonlinear Dyn. 98(3), 2375–2385 (2019)
45. Mirzajani, S., Aghababa, M.P., Heydari, A.: Adaptive t-s fuzzy
control design for fractional-order systems with parametric
uncertainty and input constraint. Fuzzy Sets Syst. 365, 22–39
(2019)

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A. Mohammadzadeh et al.: A Novel Fractional-Order Multiple-Model Type-3 Fuzzy Control\ldots
Shahab S. Band is professor at
National Yunlin University of
Science and Technology. He
received his Ph.D. in computer
science from the University of
Malaya and MSc in Artificial
Intelligence. He has published
more than 200 papers, in refer-
eed international SCI-IF jour-
nals (100), international
conference proceedings (25),
books (10) with more than 7000
citations in Google Scholar
(with h-index of 29), and
ResearchGate RG Score of 47.
He has worked on various funded projects. He is on the editorial
board of journals and has served as Guest Editor for journals. His
major academic interests are in Computational Intelligence, Data
mining in multidisciplinary fields. His articles are ranked in the highly
cited papers and most downloaded papers from the top 10 % (2013 till
now) in Computer Science according to the WoS.
Amirhosein Mosavi is Alexan-
der von Humboldt research fel-
low for big data, IoT, and
machine learning. He is a senior
research fellow at Oxford
Brookes University. Amir com-
pleted his graduate studies at
London Kingston University,
UK, and received his Ph.D. in
applied informatics. He is a data
scientist for climate change,
sustainability, and hazard pre-
diction. He is the recipient of
the Green-Talent Award,
UNESCO Young Scientist
Award, ERCIM Alain Bensoussan Fellowship Award, Campus
France Fellowship Award, Campus Hungary Fellowship Award, and
Endeavour-Australia Leadership.
123