Hindawi Publishing Corporation

Abstract and Applied Analysis

Volume 2010, Article ID 108651, 7 pages
doi:10.1155/2010/108651
Research Article
Mittag-Lefer Stability Theorem for Fractional
Nonlinear Systems with Delay
S. J. Sadati,
1
D. Baleanu,
2, 3
A. Ranjbar,
1
R. Ghaderi,
1
and T. Abdeljawad (Maraaba)
3
1
Department of Electrical and Computer Engineering, Faculty of Electrical Engineering,
Babol Noshirvani University of Technology, Babol, Iran
2
Department of Mathematics and Computer Science, Faculty of Arts and Sciences, C ankaya University,
06530 Ankara, Turkey
3
Institute of Space Sciences, P.O. Box MG-23, 76900 Magurele-Bucharest, Romania
Correspondence should be addressed to D. Baleanu, dumitru@cankaya.edu.tr
Received 3 May 2010; Accepted 14 July 2010
Academic Editor: Allan C. Peterson
Copyright q 2010 S. J. Sadati et al. This is an open access article distributed under the Creative
Commons Attribution License, which permits unrestricted use, distribution, and reproduction in
any medium, provided the original work is properly cited.
Fractional calculus started to play an important role for analysis of the evolution of the nonlinear
dynamical systems which are important in various branches of science and engineering. In this line
of taught in this paper we studied the stability of fractional order nonlinear time-delay systems
for Caputos derivative, and we proved two theorems for Mittag-Leer stability of the fractional
nonlinear time delay systems.
1. Introduction
During the last decade the fractional calculus 15 has gained importance in both theoretical
and applied aspects of several branches of science and engineering 615. However there
are several open problems in this area. One of them is related to the stability of the fractional
systems in the presence of the delay. Both delay and fractional systems are describing
separately the evolution of the dynamical systems involving memory eect. Particularly, for
the time delay case we mention the seminal works on the applicability of Lyapunovs second
method 16, 17.
Since 1950s dierent types of the Lyapunov functions have been proposed for
the stability analysis of delay systems, see the pioneering works of Razumikhin 16
and Krasovski 17. Whereas Razumikhin 16 used the Lyapunov-type functions Vxt
depending on the current value xt of the solution, Krasovski 17 proposed to use
functionals Vx
t
depending on the whole solution segment x
t
, that is, the true state of the
delay system. The reader can see 18 for more details.
2 Abstract and Applied Analysis
Some literatures published about stability of fractional-order linear time delay systems
can be found in 19, 20. In the base of Lyapunovs second method, some work has been
done in the eld of stability of fractional order nonlinear systems without delay 2123.
Razumikhin theorem for the fractional nonlinear time-delay systems was extended recently
in 24. However few attempts were done in order to combine these two powerful concepts
and to observe what the benets of this combination are.
The main aim of this paper is to establish the Mittag-Leer stability theorem for
fractional order nonlinear time-delay systems.
The organization of the manuscript is given belo.
In Section 2 some basic denitions of fractional calculus used in this paper are
mentioned. Section 3 introduces briey the fractional nonlinear time-delay systems. Section 4
deals with the Mittag-Leer stability theoremwhen both fractional derivatives and delay are
taken into account.
Finally, Section 5 is devoted to our conclusions.
2. Fractional Calculus
2.1. Caputo and Riemann-Liouville Fractional Derivatives
In the fractional calculus the Riemann-Liouville and the Caputo fractional derivatives are
dened, respectively 1, 2,
t
0
D
q
t
xt
1

_
n q
_
d
n
dt
n
_
_
t
t
0
xs
t s
q1n
ds
_
_
n 1 < q n
_
,
c
t
0
D
q
t
xt
1

_
n q
_
_
t
t
0
x
n
s
t s
q1n
ds
_
n 1 < q n
_
,
2.1
where xt is an arbitrary dierentiable function, n N, and
t
0
D
q
t
and
c
t
0
D
q
t
are the Riemann-
Liouville and Caputo fractional derivatives of order q on t
0
, t, respectively, and denotes
the Gamma function.
For 0 < q 1 we have
t
0
D
q
t
xt
1

_
1 q
_
d
dt
_
_
t
t
0
xs
t s
q
ds
_
_
0 < q 1
_
,
c
t
0
D
q
t
xt
1

_
1 q
_
_
t
t
0
x

s
t s
q
ds
_
0 < q 1
_
.
2.2
Some properties of the Riemann -Liouville and the Caputo derivatives are recalled below
1, 2.
When 0 < q < 1, we have
c
t
0
D
q
t
xt
t
0
D
q
t
xt
xt
0

_
1 q
_t t
0

q
. 2.3
Abstract and Applied Analysis 3
In particular, if xt
0
0, we obtain
c
t
0
D
q
t
xt
t
0
D
q
t
xt . 2.4
2.2. Mittag-Lefer Function
Similar to the exponential function frequently used in the solutions of integer-order systems,
a function frequently used in the solutions of fractional-order systems is the Mittag-Leer
function dened as
E

k0
z
k
k 1
, 2.5
where > 0 and z C. The Mittag-Leer function with two parameters appears most
frequently and has the following form:
E
,
z

k0
z
k

_
k
_, 2.6
where > 0, > 0, and z C. For 1 we obtain E
,1
z E

z. Also we mention that

E
1,1
z e
z
.
3. Fractional Nonlinear Time-Delay System
Let Ca, b, R
n
be the set of continuous functions mapping the interval a, b to R
n
. In many
situations, one may wish to identify a maximum time delay r of a system. In this case, we
are often interested in the set of continuous function mapping r, 0 to R
n
, for which we
simplify the notation to C Cr, 0, R
n
. For any A > 0 and any continuous function of
time Ct
0
r, t
0
A, R
n
, t
0
t t
0
A, let
t
C be a segment of function dened
as
t
t , r 0.
Consider the Caputo fractional nonlinear time-delay system
c
t
0
D

t
xt ft, x
t
, 3.1
where xt R
n
, 0 < 1, and f : R C R
n
. Equation 3.1 indicates the Caputo
derivatives of the state variable x on t
0
, t and x for t r t. As such, to determine the
future evolution of the state, it is necessary to specify the initial state variables xt in a time
interval of length r, say, from t
0
r to t
0
, that is,
x
t
0
, 3.2
where C is given. In other words we have xt
0
, r 0.
4 Abstract and Applied Analysis
Throughout the paper we will use the Euclidean norm for vectors denoted by . The
space of continuous initial functions Cr, 0, R
n
is provided with the supremum norm
_
_

_
_

max
r,0
_
_

_
_
. 3.3
4. Mittag-Lefer Stability of Fractional Nonlinear Time Delay Systems
As in the study of systems without delay, an eective method for determining the stability of
a time-delay system is the Lyapunov method. Since in a time-delay system the state at time
t required the value of xt in the interval t r, t, that is, x
t
, it is natural to expect that for a
time-delay system, corresponding the Lyapunov function be a functional Vt, x
t
depending
on x
t
, which also should measure the deviation of x
t
from the trivial solution 0.
Denition 4.1. Let Vt, be dierentiable, and let x
t
, be the solution of 3.1 at time
t with initial condition x

. Then, we calculate the Riemann-Liouville and the Caputo

derivatives of Vt, x
t
with respect to t and evaluate it at t as follows, respectively,
t
0
D
q
t
V
_
,
_

t
0
D
q
t
V
_
t, x
t
_
,
__
_
_
_
t,x
t

_
1 q
_
d
dt
_
_
t
t
0
Vs, x
s

t s
q
ds
__
_
_
_
_
t,x
t

c
t
0
D
q
t
V
_
,
_

c
t
0
D
q
t
V
_
t, x
t
_
,
__
_
_
_
t,x
t

_
1 q
_
_
t
t
0
V

s, x
s

t s
q
ds
_
_
_
_
_
t,x
t

.
4.1
where 0 < q 1.
Denition 4.2 exponential stability 25. The solution of 3.1 is said to be exponential stable
if there exist b > 0 and a 0 such that for every solution xt, , Cr, 0, R
n
the
following exponential estimate holds:
_
_
x
_
t,
__
_
a
_
_

_
_

e
bt
. 4.2
Denition 4.3 Mittag-Leer stability. The solution of 3.1 is said to be Mittag-Leer stable
if
_
_
x
_
t,
__
_

_
m
__
_

_
_

_
E

_
t t
0

__
b
, 4.3
where 0, 1, 0, b > 0, m0 0, mx 0, and mx is locally the Lipschitz on
x B R
n
with the Lipschitz constant m
0
.
Theorem 4.4. Suppose that
1
,
2
, and are positive constants and V, w : Cr, 0, R
n
R are
continuous functionals. If the following conditions are satised for all Cr, 0, R
n
:
1
1
0
2
V
2

,
2 V w,
3 Vx
t
has fractional derivative of order for all Cr, 0, R
n
,
Abstract and Applied Analysis 5
4
c
t
0
D

t
Vx
t
wx
t
for all t t
0
and 0 < 1.
then
_
_
x
_
t,
__
_

_

1
_
_

_
_

_
E

_
t

__
1/2
, t t
0
, Cr, 0, R
n
. 4.4
That is the solution of 3.1 is Mittag-Leer stable.
Proof. Given any Cr, 0, R
n
, condition 2 implies that
w
_

_
V
_

_
. 4.5
From 4.5 and condition 4, we have
c
t
0
D

t
V
_
x
t
_

__
V
_
x
t
_

__
0, 4.6
or
c
t
0
D

t
V
_
x
t
_

__
V
_
x
t
_

__
Mt 0, 4.7
where Mt 0 for t 0.
From3.2, we have Vx
t
0
V. Then, the solution of 4.7 with initial condition
Vx
t
0
V is given by
V
_
x
t
_

__
V
_

_
E

_
t

_
t
t
0
t
1
E
,
_
t

_
Md
V
_

_
E

_
t

_
Mt
_
t
1
E
,
_
t

_
_
,
4.8
where is convolution operator. Since both t
1
and E
,
t

are nonnegative functions, it

follows that
V
_
x
t
_

__
V
_

_
E

_
t

_
, t t
0
. 4.9
Then conditions 1 and 2 yield

1
_
_
x
_
t,
__
_
2
V
_
x
t
_

__
V
_

_
E

_
t

_

2
_
_

_
_
2

_
t

_
. 4.10
Comparing the left and the right hand sides, we have
_
_
x
_
t,
__
_

_

1
_
_

_
_

_
E

_
t

__
1/2
, t t
0
, Cr, 0, R
n
. 4.11
6 Abstract and Applied Analysis
Lemma 4.5. Let 0, 1 and V0 0, then
c
t
0
D

t
Vt
t
0
D

t
Vt. 4.12
Proof. By using 2.3 we have
c
t
0
D

t
Vt
t
0
D

t
VtVt
0
t t
0

/1. Because 0, 1
and Vt
0
0, we get
c
t
0
D

t
Vt
t
0
D

t
Vt.
Theorem 4.6. Assume that the assumptions in Theorem 4.4 are satised except replacing
c
t
0
D

t
by
t
0
D

t
, then one has
_
_
x
_
t,
__
_

_

1
_
_

_
_

_
E

_
t

__
1/2
, t t
0
, Cr, 0, R
n
. 4.13
Proof. It follows from Lemma 4.5 and Vx
t
0 that
c
t
0
D

t
Vx
t

t
0
D

t
Vx
t
which
implies
c
t
0
D

t
Vx
t

t
0
D

t
Vx
t
wx
t
for all t t
0
. Following the same proof as
in Theorem 4.4 yields
_
_
x
_
t,
__
_

_

1
_
_

_
_

_
E

_
t

__
1/2
, t t
0
, Cr, 0, R
n
. 4.14
Corollary 4.7. For 1 one has exponential stability [25]
_
_
x
_
t,
__
_

_

1
_
_

_
_

_
E
1
_
t

__
1/2

1
_
_

_
_

e
1/2t
, t t
0
, Cr, 0, R
n
.
4.15
5. Conclusions
Some complex systems which appear in several areas of science and engineering involve
delay and they have memory eect. The combined use of the fractional derivative and delay
may lead to a better description of such systems. Fromthese reasons in this paper we obtained
the Mittag-Leer stability theorem in the presence of both the Riemann-Liouville or the
Caputo fractional derivatives and delay. The obtained theorems contain particular cases of
the fractional calculus versions as well as the time-delay ones.
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