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Published in IET Control Theory and Applications
Received on 24th April 2012
Revised on 6th February 2013
Accepted on 11th February 2013
doi: 10.1049/iet-cta.2012.0309

ISSN 1751-8644

Fractional order adaptive controller for stabilised

systems via high-gain feedback
Abdelfatah Charef1 Mohamed Assabaa1 Samir Ladaci2 Jean-Jacques Loiseau3
1 Universit

Mentouri de Constantine, Dpartement dElectronique, Route Ain El-Bey, Constantine 25000, Algeria
20 Aot 55 de Skikda, Dpartement de gnie lectrique, BP 26, Skikda 21000, Algeria
3 LUNAM Universit, IRCCyN CNRS UMR 6597, 1, rue de la No, 44321, France
E-mail: afcharef@yahoo.com
2 Universit

Abstract: Controllers based on fractional order calculus are gaining more and more interests from the control community.
This type of controllers may involve fractional integration, fractional differentiation and/or fractional systems in their structure
or implementation. They have been introduced in the control applications in a continuous effort to enhance the system control
quality performances and robustness. In this study, a new scheme of fractional order adaptive controller via high-gain output
feedback for a class of linear, time-invariant, minimum phase and single input-single output systems of relative degree one is
proposed. The basic idea of the new design is a further modication in the adaptive proportional control law by the introduction
of a fractional integration besides of the regular one of the squared output of the system in the adaptation gain of the control
strategy. An analytical stability proof of the feedback control system is presented. The control quality enhancement of the
proposed control scheme compared with the classical one has been presented through the simulation results of an illustrative
example.

Introduction

Lately, considerable focus on fractional calculus has been

observed in different areas of system and control elds.
Some early work was done by Bode [1] who proposed a fractional order open loop transfer function to maintain stable
operation of feedback ampliers for large gain variation. The
introduction of fractional calculus concepts in the area of
automatic control systems was back in the early sixties [2].
But, it is only in the last decades that fractional calculusbased controllers have gained more interest from the control
community [38]. These controllers have been introduced
in the control applications in a continuous effort to enhance
the system control quality performances and robustness. The
rst who really introduced a well-established fractional order
controller, called CRONE controller, was Oustaloup [9].
More recently, Podlubny [5] proposed a fractional PI D
controller, involving an integration action of order and
differentiation action of order . In [10], we can nd a very
good tutorial on fractional calculus in controls; additionally,
several typical known fractional order controllers have been
presented and commented.
Adaptive control has been proven to be a good control
because of its potential application in systems with high
complexities and uncertainties. The aim in adaptive control
is to design a controller which can achieve the pre-specied
control objectives for a given class of systems with uncertain
dynamics. It is only in the last two decades that fractional
order operators and systems have been introduced in the
schemes of the adaptive control theory. In 2002, Vinagre
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et al. [11] have introduced for the rst time the fractional
calculus in the conventional adaptive control. They have
used a fractional order parameter adjustment rule and a
fractional order reference model in the conventional Model
Reference Adaptive Control (MRAC). In 2006, Ladaci and
Charef [12] have also used the MRAC with a fractional
order parameter adjustment rule and a different fractional
order reference model than the one in [11]. Besides, they
have introduced a fractional differentiator with an appropriate fractional order at the output of the plant. A fractional
adaptive scheme, which combines a model reference and
a fractional order adjustment rule for a feed-forward gain
adjustment, has been proposed by Surez et al. [13] for
lateral control of an autonomous guided vehicle. Ladaci
and Charef [14] have also introduced an adaptive fractional
PI D controller based on a classical integer one. In all
the above referenced articles, the benets, in terms of the
dynamics and robustness of the control system, of the proposed fractional adaptive control schemes have been shown
through illustrative examples only. But the weaknesses of
such works were the lack of theoretical arguments to guarantee the stability of such fractional adaptive control schemes.
Hence, the analytical proof of stability for fractional adaptive control schemes is up to now considered as an open
problem.
In the last years, some analytical stability proofs of
some theoretical adaptive control schemes have been presented. Li et al. [15] have studied the asymptotic stability
of three fractional scalar systems using the universal adaptive stabilisation technique. The stability proofs obtained
IET Control Theory Appl., 2013, Vol. 7, Iss. 6, pp. 822828
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in [15] have been extended to MIMO systems by Li and
Chen [16]. Ladaci et al. [17] have shown that a fractional adaptive controller based on high gain output feedback
can stabilise any given linear, time-invariant, minimum
phase, single input-single output (SISO) systems of relative degree one. They have also introduced a fractional
feed-forward in the MRAC algorithm where the robust
stability proof of the proposed adaptive control scheme
has been derived using the almost strictly positive realness property of the plant [18]. In [19], a fractional order
robust control scheme has been proposed for cogging effect
compensation on permanent magnetic synchronous motors
position and velocity servo system. Through this range of
design techniques and applications, though quite far from
aiming at completeness, it is clear that fractional order adaptive control has become an important research topic. The
generalisation to fractional orders of traditional controllers
or control schemes translates into more tuning parameters and more adjustable time and frequency responses
of the control system, allowing the fullment of robust
performances.
In this study we present a new scheme of fractional
order adaptive controllers via high-gain output feedback
for a class of linear, time-invariant, minimum phase and
SISO systems of relative degree one. The basic idea of
this new concept is the introduction of a fractional integration besides of the regular integration of the output of the
system in the adaptation gain of the control strategy. The
introduced fractional integration order can clearly improve
the behaviour of the control system. We have shown that
this controller can asymptotically stabilise the considered
class of systems. The proposed adaptive controller can also
deal with the output tracking problem of a step reference.
The simulation results of an illustrative example are presented to show the control quality enhancement using this
proposed fractional adaptive control scheme compared with
the classical one.

Lemma 1 [21]: The fractional integration operators I0+ with

> 0 is bounded in Lp (t0 , t1 ) (1 p )


(t1 t0 )


(3)
It + f (t) K f (t)p with K =
0
p
()
Proof . See Lemma 2.1 of [21] on page 72.
2.2

Adaptive high-gain control

In the continuous-time adaptive high-gain control scheme,

the controller is of striking simplicity. It is not based on system identication or plant parameter estimation algorithms
or injection of probing signals [22]. It is a well-established
fact that the adaptive high-gain controller can stabilise any
SISO, minimum phase system with positive high-frequency
gain and relative degree one [2226].
Let us consider an uncertain SISO system described by
the following state space equation
dx(t)
= Ax(t) + Bu(t)
dt
y(t) = Cx(t)

(4a)
(4b)

where t  is the time variable, x(t) n is the state vector

with n unknowns, u(t)  is the scalar control and y(t) 
is the scalar measured output; A, B, C, are unknown matrices
of appropriate dimensions.
Assumption A1: We assume that the above system is controllable and observable with minimum phase, positive
high-frequency gain and relative degree one.
Theorem 1 [2226]: Consider an uncertain system described
by (4) satisfying Assumption A1 then it is uniformly stabilised by the following high-gain adaptive proportional
control law
u(t) = k(t)y(t)
(5)
For the proof see [2226].

2
2.1

Preliminaries
Fractional calculus

In this work RiemannLiouville denitions of fractional

order integration and differentiation are used [20, 21]. So,
for the case 0 < < 1, and f (t) being a causal function of
t, that is, f (t) = 0 for t < 0, the fractional order integral is
dened as
1
I f (t) =
()

t



(t )1 f ( ) d

lim x(t) = 0

(1)

and the fractional order derivative is also given as

D f (t) =


d
d  (1)
1
I
f (t) =
dt
(1 ) dt

 t


(t ) f ( ) d

and

lim k(t) = k

Theorem 2 [27]: Consider an uncertain SISO system of (4),

satisfying Assumption A1, then it veries Theorem 1 with
the adaptive proportional control law of (5). The resulting
feedback control system is given as
dx(t)
= [A k(t)BC]x(t)
dt
y(t) = Cx(t)

(2)

where  (.) is the Gamma function. One of the properties

of the fractional integration operator I = I0+ is its boundedness in the space Lp (0, t1 ) (1 p ) with the norm
f p .
IET Control Theory Appl., 2013, Vol. 7, Iss. 6, pp. 822828
doi: 10.1049/iet-cta.2012.0309

To ensure that the gain k(t) grows beyond the lower

asymptotic stability bound, k(t) is adapted by the output
as [2227]
dk(t)
(6)
= y2 (t)
dt
In this case, for arbitrary initial conditions x0 = x(t0 ) n
and k0 = k(t0 ) , the closed loop initial-value problem has
a unique solution (x(t), k(t)) with the following properties

(7a)
(7b)

k(.): [t0 , t1 ) , is a differentiable function satisfying

dk(t)
0
dt
Then there exists k  and > 0 such that if k(t) k for
all t t0 and for x(.) [t0 , t1 ) n any solution of (7a), the
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following holds

4 Stability analysis of the feedback control

system

|y(t)| = |Cx(t)| Me(tt0 )

for all t [t0 , t1 )

Let us consider the system of (4) which satises Assumption

A1 subject to the adaptive controller of (9). The resulting
closed loop system is described by

for some M > 0.

For the proof see [27].

Problem statement

Consider the system of (4) satisfying Assumption A1, then

it can be stabilised by the high-gain adaptive proportional
control law of (5) and (6), but an annoying feature of this
control law is that the gain k(t) will be unbounded in the
presence of the slightest error in the output y(t) caused, for
example, by measurement noise. In the constant output feedback problem, this can be easily overcome by introducing
an integral term to the control law. In this output feedback
control problem, we intend to propose a further modication
in the adaptation law of (6) in order to keep the closedloop system stable, to force its output to converge without
steady-state error and to keep the gain bounded in the case
of a noisy output; with no a priori knowledge of the plant
parameters and order. So, the basic idea of this new design
is the introduction of a fractional integration of the squared
output of the system in the adaptation gain of (6) besides of
the regular one.
Hence, for an uncertain system described by (4) satisfying
Assumption A1, it is uniformly stabilised by the high-gain
adaptive proportional control law of (5) whose adaptation
law is given as follows
e(t) = y(t) r(t)

(8a)

u(t) = k(t)e(t)

(8b)



dk(t)
= 1 e2 (t) + 2 D e2 (t)
dt

(8c)

where r(t)  is the reference signal, k(t)  is the adaptive gain and e(t) = [y(t) r(t)]  is the error signal. For
simplicity we will consider the case where r(t) = 0 to prove
the stability of the proposed control system given by
u(t) = k(t)y(t)




dk(t)
= 1 y2 (t) + 2 D y2 (t)
dt

(9a)
(9b)

The parameters 1 , 2 and are real numbers which satisfy

1 > 0,

2 > 0

1 < a < 1

(10)

(13b)
(13c)

This system can be considered as a system with the state

(x, k) n . The main contribution of this study will
be the stability properties of the feedback control system
with the proposed fractional control scheme. These stability
properties are stated in the following theorem and lemmas.
Theorem 3: For each initial condition [t0 , x0 = x(t0 ), k0 =
k(t0 )]  n  of the closed loop system of (13),
there exists a solution [x(.), k(.)]: [t0 , t1 ) n . Every
solution can be continuous over [t0 , ) and satises
k(t) is bounded

(14)

lim x(t) = 0

(15)

Proof of Theorem 3 For the proof of Theorem 3, we will

consider two cases based on the fractional order derivative
parameter .
Case 1: 1 < 0 For this case we shall require the
following Lemma.
Lemma 2: The controller gain dened in (12) k(t): [t0 , t1 )
, t0 < t1 , for 1 < 0, a differentiable function, satises
0
k(t)
(16)
Proof of Lemma 2 Let = , then 0 < 1, so the
controller gain k(t) of (13b) becomes
dk(t)
= 1 y2 (t) + 2 I [y2 (t)]
dt

(17)

From the RiemannLiouvillle fractional order integral

denition of (1), we have

I y2 =

1
()

t



(t )1 y2 ( ) d

(18)

t0

It is obvious that the right hand side of (18) is positive

because () 1. And since we have 1 > 0 and 2 > 0,
this implies that the right hand side of (17) is positive. So,
0 follows.
k(t)

(12)

Following up with the proof of Theorem 3, we will rst

demonstrate that k(t) is bounded. The behaviour of x(t)
satises
dx(t)
= [A k(t)BC]x(t)
dt
0, then, from Theorem 2, there
where from Lemma 2, k(t)
exists k , > 0 and M > 0 such that if k(t) k for all

We note that if 1 = 0 and 2 = 0, the case will be the

classical case of [27]; and if 1 = 0 and 2 = 0, the case
will be the fractional case of [17]. The scheme of (12), for
1 < < 1, does not have an equivalent scheme using only
regular integration and differentiation.
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(13a)

(11)

Then, from (9b), the gain k(t) will be given as

k(t) = 1 I 1 [y2 (t)] + 2 I (1) [y2 (t)]

dx(t)

= A(k)x(t)
= [A k(t)B C]x(t)
dt
dk(t)
= 1 y2 (t) + 2 D [y2 (t)]
dt
y(t) = Cx(t)

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t t0 and for all x(.) : [t0 , t1 ) n , solution of (13a),
[t0 , t1 ), the following holds
|y(t)| Me(tt0 )

lim y(t) = 0

(19)

and from Lemma 1, for 0 < 1, we also have





 2 
It + y (t)  K y2 (t)

and from Lemma 1, for 0 < 1, we have





 (1+) 2 
It + y (t) K y2 (t)

strictly decreasing function, hence we have

(20)

Hence, (19) and (20) imply that k(t) = 1 I 1 y2 (t) +

[y2 (t)] is bounded on [t0 , t1 ).
2 It(1+)
0
To prove that x(t) converges to zero when t , we
rewrite (13a) as

Therefore (26) and (27) imply that k(t) = 1 I 1 y2 (t) +

2 It0 [y2 (t)] is bounded on [t0 , t1 ). From (13c) we have y(t) =
Cx(t) and since the system of (4) is observable because it
satises Assumption A1, so we can conclude that
lim x(t) = 0

(22)

In this section, an illustrative example will be presented

to show the effectiveness and the control quality enhancement using the proposed control scheme. We will consider a
minimum phase continuous-time unstable system of relative
degree one given by the following transfer function

is asymptotically stable and

(t) = [k k(t)]y(t)

(23)

The boundedness of k(.) implies that y(.) L2 and (.)

L2 . Since x(.) is the output of an asymptotically stable
system subject to an input (.) L2 , then x(.) L2 and
x (.) L2 . Therefore
lim x(t) = 0

Case 2: 0 < < 1. Let = (1 ), then 0 < < 1, so

the controller gain k(t) of (13b) becomes
dk(t)
= 1 y2 (t) + 2 I (1) [y2 (t)]
dt
= 1 y2 (t) + 2 I [D{y2 (t)}]
= 1 y2 (t) + 2 I [2y(t)y(t)]

(28)

(21)

where
A = [A kB C]

(27)

dx(t)

= Ax(t)
+ B(t)
dt

(26)

(24)

Illustrative example

G(s) =

5(s + 1)
s(s 0.3)

(29)

We can easily see that the above system satises Assumption A1 of Section 2. Then, we can apply the proposed
fractional order adaptive high gain controller of (12) to this
system. Based on the fractional order derivative (1 <
< 1) of (9), we will consider two cases. For both cases,
all the initial conditions have been set to zeros and the time
sampling period T for the numerical calculations has been
set to T = 25 ms. Besides, the values of the parameters , 1
and 2 are obtained by: rst, we set 2 = 0 in (12) (the
case will be the classical one) and tune the parameter 1 to
achieve the best response in terms of the overshoot, the rise
time and the settling time; then, using this obtained value
1 , the values of the parameters and 2 of the proposed
control gain scheme are tuned to achieve the best response
also in terms of the overshoot, the rise time and the settling
time.

The sign of k(t)

will be based on the fractional order integration I [2y(t)y(t)] of (24). Hence, we will consider two
cases depending on the sign of the term [y(t)y(t)].

Case 1: 1 < < 0. The parameters of the control gain k(t)

of the proposed control scheme of (12) have been taken as
= 0.55, 1 = 4.0 and 2 = 12.0. Then the control gain
k(t) is given by

[y(t)y(t)] 0 on all the considered time interval:

RiemannLiouvillle fractional order integral I [2y(t)y(t)] is
given as





k(t) = 4.0 I 1 [y2 (t)] + 12.0 I 1.55 [y2 (t)]

1
I [2y(t)y(t)] =
()

t


(t )1 2y( )y( ) d (25)

t0

The right hand side of this equation is positive because

[y(t)y(t)] 0 and () 1. And since we have 1 > 0
and 2 > 0, this implies that the right hand side of (24) is
0 follows. In the same way as in the
positive. So, k(t)
above case (1 < < 0), it can be easily proven that k(t)
is bounded and limt x(t) = 0.

[y(t)y(t)] < 0 on all the considered time interval: when

[y(t)y(t)] < 0, it implies straight that the function |y(t)| is
IET Control Theory Appl., 2013, Vol. 7, Iss. 6, pp. 822828
doi: 10.1049/iet-cta.2012.0309

(30)

For comparison purpose, the classical case given in [27] has

also been used. We have mentioned that if 1 = 4.0 = 0
and 2 = 0, the proposed control scheme of (12) will be
the classical case. Hence, the classical control gain kc (t) is
given by


(31)
kc (t) = 4.0 I 1 [y2 (t)]
The numerical calculation of the fractional integrator of
order 1.55 of (30) has been done using a digital FIR lter
obtained from [28]. The simulations results are obtained with
the input reference signal r(t) as a unity step. Fig. 1 shows
the plots of the output responses y(t) and yc (t) of the closed
loop control system with the proposed fractional control
scheme and the classical control scheme, respectively.
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4

1.4
y(t)
yc(t)

1.2

3.5

k(t)
kc(t)

3
1
2.5
0.8
2
0.6
1.5
0.4

0.2

0.5
0
0

0.5

1.5

2.5

3.5

4.5

Fig. 1 Outputs y(t) and yc (t) of the closed loop control system
with the proposed fractional and the classical control schemes

5
6
Time (s)

10

Fig. 3 Control gains k(t) and kc (t) of the closed loop control
system with the proposed fractional and the classical control
schemes

0.7
u(t)
uc(t)

0.6

kc (t) of the closed loop control system with the classical

control scheme.
Case 2: 0 1. In this second case, the parameters of
the control gain k(t) of the proposed control scheme of (12)
have been taken as = 0.3, 1 = 4.0 and 2 = 12.0. Then
k(t) is given by

0.5
0.4
0.3
0.2

k(t) = 4.0I 1 [y2 (t)] + 12.0I 0.7 [y2 (t)]

(32)

0.1
0
0.1
0.2

0.5

1.5

2.5

3.5

4.5

Time (s)

Fig. 2 Control signals u(t) and uc (t) of the closed loop control system with the proposed fractional and the classical control
schemes

From Fig. 1, we note that the response y(t) of the closed

loop control system with the proposed fractional control
scheme is faster, it has lower overshoot and a smaller rise
time than the response yc (t) of the closed loop control
system with the classical control scheme.
The plots of the control signals u(t) and uc (t) of the closed
loop control system with the proposed fractional and the
classical control schemes, respectively, are given in Fig. 2.
As shown in Fig. 2, we note that the performances
enhancement obtained by using the proposed fractional control scheme requires a larger initial control signal u(t) than
the initial control signal uc (t) using the classical control
scheme; but the control signal u(t) is as fast as the control
signal uc (t) despite its larger initial amplitude.
The plots of the fractional and the classical control gains
k(t) and kc (t) are shown in Fig. 3.
From Fig. 3, we remark that the amplitude of the gain
k(t) of the closed loop control system with the proposed
fractional control scheme is bounded and has a larger steady
state amplitude than the steady state amplitude of the gain
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The classical control gain kc (t) of (31) is also used for comparison purpose. The numerical calculation of the fractional
integrator of order 0.7 of (32) has been done using a digital
FIR lter obtained from [28]. The simulations results of this
case are also obtained with the input reference signal r(t) as
a unity step.
Fig. 4 shows the plots of the output responses y(t) and
yc (t) of the closed loop control system with the proposed
fractional and the classical control schemes, respectively. As
in the rst case, the output response y(t) of the closed loop
control system with the proposed fractional control scheme
has a lower overshoot and a smaller rise time than the classical one yc (t). Also, y(t) is as fast as yc (t). However, the
output response y(t) can be accelerated by setting a greater
2 of the control gain k(t) of (32).
The plots of the control signals u(t) and uc (t) of the closed
loop control system with the proposed fractional and the
classical control schemes, respectively, are given in Fig. 5.
As in the rst case, even though a larger initial control signal
u(t) compared to the initial control signal uc (t) is required
as shown in Fig. 5, u(t) is as fast as uc (t).
The plots of the fractional and the classical control gains
k(t) and kc (t) are shown in Fig. 6. In this case, we can
easily see that, from Fig. 6, the amplitude of the gain k(t)
of the proposed fractional control scheme is bounded and
has a smaller steady state amplitude than the steady state
amplitude of the gain kc (t) of the classical control scheme.
From the above example, we have remarked and noted
the following:

the proposed fractional adaptive controller can solve the

step reference tracking problem
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2

1.4
y(t)
yc(t)

1.2

k(t)
kc(t)

1.8
1.6

1.4
1.2

0.8

1
0.6

0.8
0.6

0.4

0.4
0.2

0.2
0
0

0.5

1.5

2.5

3.5

4.5

Time (s)

Fig. 4 Outputs y(t) and yc (t) of the closed loop control system
with the proposed fractional and the classical control schemes

5
6
Time (s)

10

Fig. 6 Control gains k(t) and kc (t) of the closed loop control
system with the proposed fractional and the classical control
schemes

for any given tuning parameter 1 of the classical control

gain scheme, there is always tuning parameters and 2 of
the control gain of the proposed fractional adaptive control
scheme for performances enhancement.

1.6
u(t)
uc(t)

1.4

1.2
1

Conclusion

0.8
0.6
0.4
0.2
0
0.2

0.5

1.5

2.5
3
Time (s)

3.5

4.5

Fig. 5 Control signals u(t) and uc (t) of the closed loop control system with the proposed fractional and the classical control
schemes

the tuning parameters 1 > 0 and 2 > 0 affect only the

transient performances not the stability of the feedback
control system
the value of the parameter 1 of the classical control gain
scheme has been tuned to achieve a good response in terms
of overshoot, rise time and settling time. Using the obtained
parameter 1 , the values of the parameters and 2 of the
proposed control gain scheme have been tuned to achieve a
good response, also, in terms of overshoot, rise time and
settling time
the introduction of the fractional integration in the adaptation gain of the control strategy has improved the rise
time and the settling time and lowered the overshoot of the
response but this performances enhancement has required a
larger initial control signal
the output response can be accelerated by setting a greater
tuning parameter 2 of the control gain of the proposed
fractional adaptive control scheme
IET Control Theory Appl., 2013, Vol. 7, Iss. 6, pp. 822828
doi: 10.1049/iet-cta.2012.0309

In this work, we have presented a concept of fractional order

adaptive controllers via high-gain output feedback for a class
of linear, time-invariant, minimum phase, SISO systems of
relative degree one. The basic idea of this concept is the
introduction of a fractional integration besides of the regular integration of the squared output of the system in the
adaptation gain of the control strategy. The introduction of
the fractional order operator in the adaptation gain of the
control strategy has provided supplementary tuning parameters which have enhanced the performances of the closed
loop control system. The stability analysis of the closed
loop control system with the proposed fractional control
scheme has been performed analytically. Simulation results
of an illustrative example have been presented to show
the control quality enhancement using this proposed control scheme compared with the classical one. The results
obtained have opened some horizons to propose other fractional order adaptive control schemes that do not exist in the
regular case.

7
1
2
3
4
5
6

References
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Podlubny, I.: Fractional order systems and PID controllers, IEEE
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IET Control Theory Appl., 2013, Vol. 7, Iss. 6, pp. 822828

doi: 10.1049/iet-cta.2012.0309