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Institute of Control and Industrial Electronics,
Warsaw University of Technology, Koszykowa 75,
00-662 Warsaw, Poland, email: adziel@isep.pw.edu.pl
Institute of Control and Industrial Electronics,
Warsaw University of Technology, Koszykowa 75,
00-662 Warsaw, Poland, email: dsieroci@isep.pw.edu.pl
Abstract: This paper presents simple stability condition for the fractional order
discrete state-space system. This is one of very few attempts to give the condition
of the stability of this type of systems. It is established for the state space model
introduced by the Authors.
1 for j = 0 n zk+1 = P Ad P 1 zk + P Buk
n
= n(n 1) . . . (n j + 1) zk+1 = n zk+1
j for j > 0
j! k+1
X
(1) n
(1)j zkj+1
j
Let us assume a traditional (integer order) dis- j=1
k=40
factors what implies that (1)j nj are negative 0.9 k=150
k=
0.8
for j 2 and 0 > n > 1.
0.7
0.5
n 0.4
> 0 for j = 2, 4, 6, . . .
j 0.3
n 0.2
< 0 for j = 3, 5, 7, . . .
j 0.1
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
The sign of both of the factors nj and (1)j
are the same
for j th factors what implies that
(1)j nj are positive for j 2 and 1 > n > 2. Fig. 1. Stability radius for k = 40, 150,
Using this Lemma the following relation may be It is worth to mention that stability radius for
obtained n = 0 equal to 1 is the same as for n = 1, because
the system given by Definition 2 for n = 0 stays in
k+1
X n fact the first order system. In this case equation
|(1)j |=
j (7) has the form
j=2
xk+1 = n xk+1 = Ad xk + Buk
k+1
X
j n
(1) for 2>n1 The static relation (expected for n = 0) can be
j
j=2 obtained in the same way as in discrete first order
k+1
X
j n singular systems (by introducing matrix E for the
(1) for 0<n<1
j case when det(E) = 0).
j=2
0.5
0.5
0 0
0.5
0.5
1
1.5
1.5
1.5 1 0.5 0 0.5 1 1.5
2
2 1.5 1 0.5 0 0.5 1 1.5 2
Fig. 2. Stability area for n = 0.1, L = 40, Fig. 5. Stability area for n = 1.8, L = 40,
r = 0.74479 r = 0.20022
Xk
n j
1.5
Stability area n (z) = (1)j z
Criterion area
j=0
j
1
Y (z)
G(z) =
0
U (z)
bN 1 z N 1 n(N 1) (z) + + b1 zn (z) + b0
0.5 =
z N nN (z) + + a1 zn (z) + a0
(zn (z) zb,N 1 ) . . . (zn (z) zb,1 )
1
=
(zn (z) za,N ) . . . (zn (z) za,1 )
1.5
1.5 1 0.5 0 0.5 1 1.5
1.5
1.5 1 0.5 0 0.5 1 1.5
Fig. 4. Stability area for n = 1.2, L = 40, The Fractional Order Transfer Function, given by
r = 0.802 equation (15), can be divided into the separate
modes, whose are associated with eigenvalues of
This immediately gives the relation
matrix Ad . For real eigenvalues each of those
modes is associated with one real eigenvalue of
Y (z) matrix Ad and can be rewritten as:
= C(I(zn (z)) Ad )1 B
U (z)
dj
p X
where n (z) is a polynomial of z given as follows: X wj
G(z) = (15)
j=1 r=1
(zn (z) za,j )r
where p is a number of an eigenvalue, dj is a obtained are conservative as can be seen from
number of multiplicity of j-th eigenvalue and wj the stability areas presented in the paper for the
are coefficients resulting from Partial Fraction system of two state variables. Future work on the
Expansion. stability criteria for these systems is still needed.
One of the directions of research will focus on
Using state-feedback control of the form (see
including also arg(zi ) into the criterion.
(Dzielinski and Sierociuk, 2005))
uk = Kxk (16)
eigenvalues of the matrix Ad can be modified REFERENCES
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