Fractional Order Dynamic Systems and Controls

Tutorial Workshop on
Fractional Order Dynamic Systems and Controls

WCICA2010, Jinan, China
Computational Aspect of FractionalOrder Control Problems

Dingyu Xue
Institute of AI and Robotics Faculty of Information Sciences and Engineering Northeastern University Shenyang 110004, P R China
Friday, 2010-7- 2, 16:05:56 Slide 1 of 63 Computational Aspects of Fractional-Order Control Problems Dingy Xue for WCICA 2010, Jinan, P R China, 07/2010
Computational Aspect of Fractional-Order Control Problems

Outlines and Motivations of Presentation
Computations in Fractional Calculus
How to solve related problems with computers, especially with MATLAB?
Linear Fractional-Order Transfer Functions

In Conventional Control: CST is widely used, is there a similar way to solve fractional-order control problems. Class based programming in MATLAB
Outlines and Motivations (contd)

Simulation Studies of Fractional-Order Nonlinear Systems
How to solve problems in nonlinear systems? The only feasible way is by simulation. Simulink based programming methodology is adopted
Optimum Controller Design for FractionalOrder Systems through Examples

Criteria selection, design examples via Simulink
Implementation of the Controllers

Continuous and Discrete
Main Reference
Chapter 13 of the Monograph Fractional-order Systems and Controls --Fundamentals and Applications
By Concepcion Alicia Monje, YangQuan Chen, Blas Manuel Vinagre, Dingyu Xue, Vicente Feliu Springer-Verlag, London, July, 2010 Implementation part is from Chapter 12 of the book
1 Computations in Fractional Calculus

Evaluation of Mittag-Leffler functions Evaluations of Fractional-order Derivatives Closed-form Solutions to Linear Fractionalorder Differential Equations Analytical Solutions to Linear Fractional-order Differential Equations
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Computational Aspects of Fractional-Order Control Problems Dingy Xue for WCICA 2010, Jinan, P R China, 07/2010
1.1 Evaluation of Mittag-Leffler Functions

Importance of Mittag-Leffler functions
As important as exponential functions in IOs Analytical solutions of FO-ODEs
Definitions
ML in one parameter
ML in two parameters Special cases
Mittag-Leffler Functions in more pars

Definitions
with Derivatives MATLAB function

Code
Podlubnys code mlf() embedded

Examples to try
Draw curves
Code
Other functions
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1.2 Evaluations of Fractional-order Derivatives

Definitions:
Grnwald-Letnikov's Definition
Others
Caputo's Derivatives, Riemann-Liouvilles, Cauchys
MATLAB Implementation
Easy to program
Syntax Examples
Orginal function
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1.3 Closed-Form Solutions to Linear Fractional-Order Differential Equations

Mathematical Formulation
Fractional-order DEs
Denote Original equation changed to
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From G-L definition
And The closed-form solution can be obtained
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MATLAB Code and Syntax

Code
Syntax
Example
Fractional-order differential equation
with step input u(t) MATLAB solutions
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1.4 Analytical Solutions to Linear Fractional-order Differential Equations

Laplace transform property
Special cases:
Impulse input: Step inputs:
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Partial fraction expansion of Commensurate-order Systems

Definition
Transfer function After partial fraction expansion, step responses
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Example: Partial fractional expansion Step response, theoretical
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Also works for the cases with multiple poles For more complicated systems Analytical solutions are too complicated
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2 Fractional-Order Transfer Functions --- MATLAB Object Modelling

Motivated by the Control Systems Toolbox
Specify a system in one variable G, use of * and +, and step(G), bode(G), convenient
Outlines in the section

Design of a FOTF Object Modeling Using FOTFs Stability Assessment of FOTFs Numerical Time Domain Analysis Frequency Domain Analysis
Fractional-Order Transfer Functions
Five parameters:
Possible to design a MATLAB object Create a @fotf folder Establish two essential functions
fotf.m (for creation), display.m (for display object)
Object creation
Syntax
Display function
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Model Entering Examples

Example1
Example 2
Example 3:
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2.2 Modelling of FOTF Systems

Series connection: G1*G2 Overload functions are needed for mtimes.m
Similarly other functions can be written

plus.m, feedback.m, uminus.m, mrdivide.m simple.m, mpower.m, inv.m, minus.m
Theoretical Results
Series connection
Parallel connection
Feedback Connection
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Modelling Examples
Plant
Controller Unity negative feedback connection Closed-loop system
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2.3 Analysis of Fractional-Order Systems

Stability regions for commensurate-order TFs MATLAB function Example: the previous closed-loop system
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2.4 Numerical Time Domain Analysis

Based on fode_sol function discussed earlier, overload functions step and lsim are written Step response Time response to arbitrary inputs
No restrictions. Reliable numerical solutions Validate the results

Examples
Closed-loop model
Model with input
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2.5 Frequency Domain Analysis

Overload functions
Bode.m Nyquist.m Nichols.m
Via Examples
Slopes. Not integer times of 20dB/sec

2.6 Norm Measures of FOTFs

Norms
2-norm Infinity norm
Overload functions Examples
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3 Simulation Studies of Fractionalorder Nonlinear Systems

Problems of Existing methods
Grunwald-Letnikov definitions and others only applies to the cases where input to a fractionalorder D/I is known Step and lsim functions only works for FOTF objects, not nonlinear systems For nonlinear control systems, a block diagram based approach is needed. A Simulink block is needed for FO-D
Filters for Approximating FO-Ds

Continued fraction approximation Oustaloups filter Modified Oustaloups filter Masking a Simulink block with the Oustaloups filter and others Simulation of nonlinear frcational-order systems with examples Validation of simulation results
3.1 Continued Fractions

Math form
For s^0.5
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3.2 Oustaloups Filter

Idea of Oustaloups Filter
Method
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MATLAB code
Syntax Example
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3.3 Modified Oustaloups Filter

Method
Code
Syntax
3.4 Simulink Modelling

Mask a Simulink block --- the key element
Possibly with a low-pass filter
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Example 1: Linear model
Denote
Simulink modelling c10mfode1.mdl
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Example 2: Nonlinear system
Rewrite the equation
Simulink model
c10mfod2.mdl
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Example 3: fractional-order delay system Rewrite
Simulink model
cxfdde1.mdl
Control loops can be established With Simulink, complicated systems can be studied.
3.6 Validations of Simulation Results

No analytical solution. Indirect methods: Change parameters in equation solver, such as RelTol, and see whether consistent results can be obtained Change simulation algorithms Change Oustaloups filter parameters
The frequency range The order N The filter, Oustaloup, modified, and others
4 Optimal Controller Design

What Criterion is Suitable for Addressing Optimality of Servo Control Systems: Criterion Selections MATLAB/Simulink based Optimal Controller Design Procedures Optimum Fractional-Order PID Controllers: Parameter Setting via Optimization Through An Example
4.1 Optimal Criterion Selections

What kind of control can be regarded as optimal? Time domain optimization is going to be used in the presentation. Other types of criteria
LQ optimization, artificial, no methods for Q and R ISE criterion, H2 minimization, Hinf, may be too conservative Fastest, most economical, and other
Finite-time ITAE is to be used

Why Finite-Time ITAE

Two criteria:
Which one is better? ITAE type of criteria are meaningful

Selection of finite-time
Tested in an example
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4.2 Design Examples with MATLAB/Simulink

Plant model, time-varying
Simulink
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Optimum Design
Establish a MATLAB objective function
Design via optimization Allow nonlinear elements and complicated systems, constrained optimizations possible
4.3 Optimal FO PID Design

Controller with 5 parameters
Design Example, Plant
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MATLAB objective function
Optimal controller design Optimal Controller found

5 Implementation of FO Controllers
Continuous Implementation
Oustaloups filter Modified Oustaloups filter Other implementations
Discrete Implementation
Via Step/Impulse Response Invariants
Frequency Domain Fitting Sub-Optimal Integer-Order Model Reduction

Continuous Implementations
As Discussed Earlier Approximation to Fractional-order operators (differentiators/integrator) only. Suitable for FO-PID type of controllers Functions to use
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Discrete-Time Implementations
FIR Filter, s work
Again for fraction-order operators Also possible, Tustins approximation
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Step/Impulse Response Invariants Approximation Models

The following functions can be used,
Dr Yangquan Chens work
Example
Discrete-Time Approximation to
MATLAB solutions, due to Dr Chens code
Example Rewrite as MATLAB solutions
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5.3 Frequency Response Fitting of Fractional-Order Controllers

Criterion
MATLAB Function Example
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A complicated controller
Controller, with QFT method
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Integer-order fitting model
Comparisons
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5.5 Rational Approximation to Fractional-Order Transfer Functions

Original model Fitting integer-order model
Fitting criterion where

Model Fitting Algorithm

1.
2. 3.
4.
5.
Select an initial reduced model Evaluate an error Use an optimization (i.e., Powell's algorithm) to iterate one step for a better estimated model Set , go to Step (2) until an optimal reduced model is obtained Extract the delay from , if any
Slide 61 of 63 Computational Aspects of Fractional-Order Control Problems Dingy Xue for WCICA 2010, Jinan, P R China, 07/2010
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MATLAB Function Implementation

Function call Example Finding full-order approximation
Reduction
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Concluding Remarks
MATLAB code are prepared for fractionalorder systems, especially useful for beginners Handy facilities can also be used by experienced users, for immediate acquisition of plots and research results Code available from
http://mechatronics.ece.usu.edu/foc/wcica2010tw/
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Tutorial Workshop on

Fractional Order Dynamic Systems and Controls

Computational Aspect of FractionalOrder Control Problems

Computational Aspect of Fractional-Order Control Problems

Linear Fractional-Order Transfer Functions

Outlines and Motivations (contd)

Optimum Controller Design for FractionalOrder Systems through Examples

Implementation of the Controllers

1 Computations in Fractional Calculus

Friday, 2010-7- 2, 16:05:56

1.1 Evaluation of Mittag-Leffler Functions

Mittag-Leffler Functions in more pars

with Derivatives MATLAB function

Podlubnys code mlf() embedded

Friday, 2010-7- 2, 16:05:56

1.2 Evaluations of Fractional-order Derivatives

Friday, 2010-7- 2, 16:05:56

1.3 Closed-Form Solutions to Linear Fractional-Order Differential Equations

Denote Original equation changed to

Friday, 2010-7- 2, 16:05:56

From G-L definition

And The closed-form solution can be obtained

Friday, 2010-7- 2, 16:05:56

MATLAB Code and Syntax

with step input u(t) MATLAB solutions

Friday, 2010-7- 2, 16:05:56

1.4 Analytical Solutions to Linear Fractional-order Differential Equations

Friday, 2010-7- 2, 16:05:56

Partial fraction expansion of Commensurate-order Systems

Transfer function After partial fraction expansion, step responses

Friday, 2010-7- 2, 16:05:56

Example: Partial fractional expansion Step response, theoretical

Friday, 2010-7- 2, 16:05:56

Friday, 2010-7- 2, 16:05:56

2 Fractional-Order Transfer Functions --- MATLAB Object Modelling

Outlines in the section

Fractional-Order Transfer Functions

Friday, 2010-7- 2, 16:05:56

Model Entering Examples

Friday, 2010-7- 2, 16:05:56

2.2 Modelling of FOTF Systems

Similarly other functions can be written

Friday, 2010-7- 2, 16:05:56

Controller Unity negative feedback connection Closed-loop system

Friday, 2010-7- 2, 16:05:56

2.3 Analysis of Fractional-Order Systems

Friday, 2010-7- 2, 16:05:56

2.4 Numerical Time Domain Analysis

No restrictions. Reliable numerical solutions Validate the results

Model with input

Friday, 2010-7- 2, 16:05:56

2.5 Frequency Domain Analysis

Slopes. Not integer times of 20dB/sec

2.6 Norm Measures of FOTFs

Overload functions Examples

Friday, 2010-7- 2, 16:05:56

3 Simulation Studies of Fractionalorder Nonlinear Systems

Filters for Approximating FO-Ds

3.1 Continued Fractions

Friday, 2010-7- 2, 16:05:56

3.2 Oustaloups Filter

Friday, 2010-7- 2, 16:05:56