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Ali Yce
Derek P. Atherton
I. INTRODUCTION
In recent years, there have been a large number of studies
on fractional order systems. A fractional order system can be
represented by a differential equation where the order of the
derivative can be any real number. Taking the Laplace
transform of such a differential equation gives a transfer
function with a fractional order Laplace complex variable such
as s ,
R . This kind of transfer functions are called
Fractional Order Transfer Function(FOTF) [1-3]. Estimating
the time responses namely impulse and step responses of a
FOTF is a difficult problem since there is not any analytical
method for computation. Generally, integer order
approximation methods such as Continued Fractional
Expansion (CFE) method, Oustaloups method, Carlsons
method, Matsudas method, Chareffs method, least square
methods [4-10] and numerical approximation methods such as
Grnwald-Letnikov approximations [2] are used for step and
impulse response computation. There are also some methods
based on Mittag-Leffler and Gamma functions [10-11].
However, in a recent paper by the authors [12] using
frequency response data of a FOTF, the computation problem
of the time response evaluation of fractional order system was
2015 IEEE
P( j )
(K p ( j )
(j )
using
[cos(
U( )
Re[G ( j )]
/ 2)
Re[G ( j )]( K p
sin
II.
C ( s)
Kp
G ( s)
Re[G ( j )]( K p
Im[G( j )]( K p
Z( )
cos
Im[G ( j )]( K p
Q( )
sin
cos
cos
sin
Im[G ( j )]( K p
cos
(5)
sin
(6)
Ki )
cos
Ki )
(7)
Re[G ( j )]( K p
Ki )
Re[G ( j )]( K p
and
sin
(8)
Ki )
Ki
s
(1)
V( )
j Im[G ( j )]
j sin(
Im[G ( j )]( K p
U ( ) jV ( )
(4)
Ki )G( j ) Z ( ) jQ( )
(K p ( j )
G( j )
(j )
Ki )G( j )
bm 1s m 1
an 1 s n 1
b0
a0
(2)
(9)
[U ( )Z ( ) V ( )Q( )]
Z ( ) 2 Q( ) 2
(10)
Im[ P( j )]
[V ( )Z ( ) U ( )Q( )]
Z ( )2 Q( ) 2
(11)
Y ( s)
R ( s)
C ( s )G ( s )
1 C (s )G (s )
(K p s
s
(K ps
K i )G ( s )
K i )G ( s)
(3)
4
k
1
sin(k s t )
1(2) k
(12)
p (t )
(19)
Re[ P ( j )]cos( t ) d
0
y s (t )
1
Re P ( jk
1(2) k
(13)
) sin(k s t )
ys (t )
k 1(2)
and
As T
of
P ( jk s )
lim s 0 Im P ( jk
1
Re P ( jk s ) sin(k s t )
k
1
Im[ P ( jk s )]cos(k s t )
k
1
Re P ( jk
1(2) k
p (t )
2 [V ( ) Z ( ) U ( )Q ( )]
sin( t ) d
[Z ( )2 Q( )2 ]
0
)Q(k
2
)
]
s
s
)]
sin(k s t )
(16)
dys (t )
dt
4
s
s Re P ( jk
4
k 1(2)
Re P ( jk
Im[ P( jk
s ) cos( k s t )
s
)]sin(k
t)
(17)
) cos(k s t )
k 1(2)
For the system of Fig. 1 again substituting (10) into (17), one
can obtain the equation of the impulse response as
yi (t )
[U (k
4
s
k 1(2)
s )Z (k s ) V (k
[Z (k s ) 2 Q(k
)Q (k
2
)
]
s
)]
cos(k
t)
(18)
(22)
(15)
) sin(k s t )
ys (t )
1 [U (k s ) Z (k s ) V (k
k
[Z (k s )2 Q(k
1(2)
(21)
(20)
Im[ P( j )]sin( t ) d
0
(14)
p (t )
p (t )
ys (t )
or
IV.
EXAMPLES
A. Example 1
The aim of this example is to show the validity of the
method by considering the control system of Fig. 1 with
integer order transfer functions such as
C ( s) 1
2
and G ( s)
s
1
4s 1
(23)
1
and G ( s )
s
1
s (s 1)( s 2)
1
3s 2
2s
(24)
s
s3
3s 2
1
2 s1
(25)
For
1.5 , the closed loop transfer function P ( s) can be
written as
0.6
Matlab
FSM
0.5
4.5
s1.5 1
3s
2 s 2.5
3.5
(26)
s1.5 1
Using (16), the unit step response of the closed loop system is
computed as shown in Fig. 6. The step response of the system
1
using IFTM is P (s ) and from (22) we obtained the step
s
response given in Fig. 7. It can be seen that both results are the
same from the figure plot accuracy and the maximum error
between the two plots at any time point is estimated to be less
than 2.5 10 4 . The step responses of the closed loop system
for different values of
are shown in Fig. 8.
0.4
Output(impulse response)
P (s )
0.3
0.2
0.1
0
-0.1
-0.2
-0.3
1.5
15
20
Time(sec)
25
30
35
40
35
40
Matlab
FSM
1
1
x 10
-3
0
-1
-2
0.5
Error
Output(step response)
10
-3
-4
-5
10
15
20
Time(sec)
25
30
35
40
-6
x 10
-7
10
15
-7
20
Time(sec)
25
30
0
1.4
-2
1.2
-6
Output(step response)
Error
-4
-8
-10
-12
0.8
0.6
0.4
-14
10
15
20
Time(sec)
25
30
35
40
0.2
10
15
20
Time(sec)
25
30
35
40
1.4
1.2
Output(step response)
0.8
1.585s 6
0.6
Pous 5 ( s )
0.4
0.2
10
15
20
Time(sec)
25
30
35
(31)
40
The exact step response of the system obtained from FSM and
the step responses of Pous 5 ( s) are shown in Fig 9. It can be
seen that the difference between two plots is very small. The
difference between the plots can be seen more clearly on the
small figure.
2
=0.8
1.8
1.6
=1
1.4
=1.4
1.4
=1.6
1.2
1.2
1
0.8
0.6
0.4
1
1.54
0.8
1.52
0.6
1.5
0.4
0.2
0
=1.2
Output(step response)
Output(step response)
1.6
10
20
30
Time(sec)
40
50
1.48
1.46
0.2
60
1.44
0
3
0
10
3.5
15
20
Time(sec)
4
25
30
4.5
35
40
2
and G ( s)
s1.1
1
3s 1
(27)
L( s)
C ( s )G ( s)
s 3.1
s1.1 2
3s 2.1 s1.1
(28)
L( s )
1 L( s)
s 3.1
s1.1 2
3s 2.1 2s1.1 2
s (s 0.1 ) 2
3
0.1
s (s ) 3s 2 ( s 0.1 ) 2s( s 0.1 ) 2
(29)
One can compute the step response of (29) using GrnwaldLetnikov(GL) approximation method. We used the Matlab GL
program given in [2] and obtained Fig. 10. The accuracy of
step responses obtained from GL methods depends on the step
time t . From Fig. 10, it can be seen that the result obtained
from GL approaches to the result of FSM when the step time
decreased.
[2]
1.6
FSM
GL( t=0.2)
1.4
GL( t=0.05)
[3]
Output(step response)
1.2
1
[4]
0.8
0.6
[5]
0.4
[6]
0.2
0
[7]
0
10
15
20
Time(sec)
25
30
35
40
[8]
V. CONCLUSIONS
The paper presents a method for the computation of the
exact time responses of closed loop control system with
fractional order PI controllers using frequency response data
of the system. The method is based on the results previously
obtained by the authors. The equations, which depend on the
controller parameters and frequency response information, of
the unit step and unit impulse responses of a closed loop
control system with a fractional order PI controller are
derived. The results of the paper can provide an important tool
for controller design in fractional order control systems.
[10]
[11]
[12]
[13]
[14]
ACKNOWLEDGMENT
This work is supported by the Scientific and Research
Council of Turkey(TB TAK) under Grant no. EEEAG115E388.
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