A FRACTIONAL STATE SPACE REALIZATION

METHOD WITH BLOCK PULSE BASIS

F RACTIONAL S IGNALS AND S YSTEMS
4-6 N OVEMBER 2009 - L ISBON
Oussema Moussi, Mohamed karim Bouafoura and Naceur Benhadj Braiek

Laboratoire dEtude et Commande Automatique des Processus

LECAP
Ecole polytechnique de Tunisie
TUNISIA

Mohamed karim BOUAFOURA (LECAP)

Fractional state space realization

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Objective
Draw up a generalized state space representation with an a priori fixed
number of states for systems described by non-commensurate
fractional differential equation.
n
X

ai D0i y (t) =

p
X

i=0

bj D0 j u(t)

j=0

[ , , , ]

n
D0 1 2
x(t) = Ax(t) + Bu(t)
y (t) = Cx(t) + Eu(t)

Tools
1

Block pulse orthogonal functions

Kronecker product properties

Nonlinear optimization

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Outline

Fractional systems representation

Orthogonal functions and algebraic properties

Proposed method

Simulation and results

Conclusion

Mohamed karim BOUAFOURA (LECAP)

Fractional state space realization

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Outline

Fractional systems representation

Orthogonal functions and algebraic properties

Proposed method

Simulation and results

Conclusion

Mohamed karim BOUAFOURA (LECAP)

Fractional state space realization

5 November 2009

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Outline

Fractional systems representation

Orthogonal functions and algebraic properties

Proposed method

Simulation and results

Conclusion

Mohamed karim BOUAFOURA (LECAP)

Fractional state space realization

5 November 2009

3 / 24

Outline

Fractional systems representation

Orthogonal functions and algebraic properties

Proposed method

Simulation and results

Conclusion

Mohamed karim BOUAFOURA (LECAP)

Fractional state space realization

5 November 2009

3 / 24

Outline

Fractional systems representation

Orthogonal functions and algebraic properties

Proposed method

Simulation and results

Conclusion

Mohamed karim BOUAFOURA (LECAP)

Fractional state space realization

5 November 2009

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Introduction to Fractional LTI systems

Fractional Calculus

Fractional operators
The fractional integral according to Riemann-Liouville is defined as
follows :

(Ia f ) (t) =

1
()

Zt
a

f ( )
(t )1

(1)

The considered non integer derivative formulae is proposed also by

Riemann-Liouville :

a Dt f (t)

1
=
(m )

d
dt

m Z t

f ( )
d
(t )1(m)

(2)

where m 1 < < m

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Introduction to Fractional LTI systems

Fractional LTI systems

The Laplace transform of (1) is :

1
F (s)
(3)
s
In the particular case when the system is relaxed for t < 0, the Laplace
transform of (2) is :
TL {I0 f (t)} =

TL {D0 f (t)} = s F (s)

(4)

Remark
The assumption of null initial conditions is held in the whole coming
developments.

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Introduction to Fractional LTI systems

Fractional LTI systems

Transfer function

The non integer SISO-LTI systems described by a FDE :

n
X

ai D0i y (t)

p
X

bj D0 j u(t)

(5)

j=0

i=0

could be represented now with the following transfer function :

H(s) =
=

Y (s)
U(s)
bm sm +bm1 sm1 +...+b0 s0
an sn +an1 sn1 +...+a0 s0

(6)

where i and i are arbitrary positive reals.

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Introduction to Fractional LTI systems

Fractional LTI systems

State space
Scalar order :


D0 x(t) = Ax(t) + Bu(t)

y (t) = Cx(t) + Eu(t)

(7)

Vector order :
1
D0 x1 = A1 X + B1 U

D0 x2 = A2 X + B2 U
..
.

D n xn = An X + Bn U

0
Y = CX + EU

(8)

Where Aj and Bj , j = 1, , n are respectively the j th line of A and B.

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Orthogonal functions and algebraic properties

General idea

Orthogonal functions
A function absolutely integrable on the time interval [ti , tf ] can be
developed as follows :
f (t) =

fi i (t)

(9)

i=0

i (t) are the elementary functions and fi the coefficients :

Ztf
f (t)i (t)dt

fi =

(10)

ti

Truncation of (9) yields :

f (t)
=

N
X

fi i (t) = FNT (t)

(11)

i=0
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Orthogonal functions and algebraic properties

General idea

Operational matrices
Using the integration property of orthogonal functions
Rtf
ti

...

Rtf

( )(d )k
= P k (t), pour k = 1, 2, . . .

ti

the k time integration of a function is approximated :

Ztf

Ztf
...
ti

f (t)(d )k
= FNT P k (t), for k = 1, 2, . . .

(12)

ti

What would be the matrix P if k is real ?

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Orthogonal functions and algebraic properties

Block pulse functions BPF

Block pulse functions BPF

The solution was firstly found with BPF defined over [0, T ] as follows :

i
1 i1
M T t MT
i (t) =
(13)
0
elsewhere
M is the number of functions to use.
f (t)
= fT (M) (t) =

M
X

fi i (t)

(14)

i=1

The following scalar product gives the coefficients :

M
fi =
T

ZT

M
f (t)i (t) dt =
T

Mohamed karim BOUAFOURA (LECAP)

(i/M)T
Z

f (t) i (t) dt

(15)

[(i1)/M]T

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Orthogonal functions and algebraic properties

Generalized operational matrices

GOM : Integration
C.H. Wang 1983 :
(I0 (M) )(t) =

1
()

Rt

(t )1 (M) ( )d

= F (M) (t)

f1 f2 f3
0 f1 f2

 
.. . .
T
1
.
. f1
F =
M
( + 2)
..
..
.
.
0 ... ...

. . . fM
. . . fM1

. . . fM2

..
..
.
.
0
f1

f1 = 1, fp = p+1 2 (p 1)+1 + (p 2)+1

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Fractional state space realization

5 November 2009

(16)

(17)

(18)

11 / 24

Orthogonal functions and algebraic properties

Generalized operational matrices

GOM : Differentiation
The derivative operational matrix is :

G = F1

M
= T ( + 2) .

Remark
for = 0

Mohamed karim BOUAFOURA (LECAP)

g1 g2
0 g1
.. . .
.
.
..
.
0 ...

g3 . . . gM
. . . . . . gM1

g1 . . . gM2

..
.. ..
.
.
.
... 0
g1

(19)

F = G = IMM

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Proposed technique for state realization

Main developments

Developed method

Expansion of systems input and output over Block pulse basis yields :
T
D0 u (t)
G (M) (t)
= uM

(20)

T
D0 y (t)
G (M) (t)
= yM

(21)

The FDE is then approximated as follows :

n
X

T
ai yM
Gi (M) (t) =

i=1

Mohamed karim BOUAFOURA (LECAP)

m
X

T
bi uM
Gj (M) (t)

(22)

j=1

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Proposed technique for state realization

Main developments

Simplifying the BPF basis in (22) leads to :

n
X

T
ai yM
Gi

i=1

m
X

T
bi uM
Gj

(23)

j=1

Set
D=

n
X

ai Gi

i=1

and
N=

m
X

bi Gj

j=1

Finally we can write :

T
T
T
yM
= uM
ND 1 = uM
L

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Fractional state space realization

(24)
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Proposed technique for state realization

Main developments

Scalar order case

Let us consider the state equation :

D0 x(t) = Ax(t) + Bu(t)

(25)

The expansion of the latter equation over BPF yields :

T
T
T
xM
G (M) (t) = AxM
(M) (t) + BuM
(M) (t)

(26)

which is equivalent to :
T
T
T
xM
G = AxM
+ BuM

Mohamed karim BOUAFOURA (LECAP)

Fractional state space realization

(27)

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Proposed technique for state realization

Main developments

Vec operator (Brewer 1978)

Vec(ABC) = (C T A)Vec(B)
where denotes the Kronecker product.
Applying the Vec operator to (27) yields :
T
T
(GT Inn IMM A)Vec(xM
) = (IMM B)Vec(uM
)

(28)

We obtain then :
T
T
)
Vec(xM
) = (GT Inn IMM A)1 (IMM B)Vec(uM

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Fractional state space realization

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(29)

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Proposed technique for state realization

Main developments

The same development is done for the output equation :

T
T
T
Vec(yM
) = (IMM C)Vec(xM
) + (IMM E)Vec(uM
)

(30)

T with its expression from (24) gives :

Replacing yM

T ) = [(I
T
1
LT Vec(uM
MM C)(G Inn IMM A) (IMM B)
T
+(IMM E)]Vec(uM )
(31)
2
The (m + 2m + 2) parameters of the state space model are deduced
by minimizing the following criterion :

= k(IMM C)(GT Inn IMM A)1 (IMM B)

+(IMM E) LT k

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Fractional state space realization

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(32)

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Proposed technique for state realization

Main developments

Vector order case

Expanding on BPF and applying Vec to state equations yields :

T ) = (F T A )Vec(X T ) + (F T B )Vec(U T )
Vec(X1M

1
1
1
1
M
M

Vec(X T ) = (F T A2 )Vec(X T ) + (F T B2 )Vec(U T )

2
2
2M
M
M
..

T ) = (F T A )Vec(X T ) + (F T B )Vec(U T )
Vec(XNM
N
N
N
N
M
M

(33)

The output equation is the following :

Y = CX + EU =

N
X

Ci xi + EU

(34)

i=1

Passing by BPF and Vec permit to write :

Vec(YMT ) =

N
X

T
T
(IMM Ci )Vec(XiM
) + (IMM E)Vec(UM
)

(35)

i=1
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Proposed technique for state realization

Main developments

Knowing that :
T
T
Vec(YMT ) = LT Vec(UM
) = (IMM C)Vec(XMT ) + (IMM E)Vec(UM
)
(36)
T ) can be written as :
Vec(UM
T
Vec(UM
) = (LT (IMM E))1 (IMM C)Vec(XMT )

(37)

also :
T

(L (IMM

T
)
E))Vec(UM

N
X

T
(IMM Ci )Vec(XiM
)

(38)

i=1

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Proposed technique for state realization

Main developments

T ):
We remember the expression of Vec(XiM
T
T
Vec(XiM
) = (FTi Ai )Vec(XMT ) + (FTi Bi )Vec(UM
)

(39)

T ) and Vec(X T ) depend both of Vec(X T ), replacing all in (38)

Vec(UM
iM
M
yields :

(LT (IMM E))(LT (IMM E))1 (IMM C)Vec(XMT )

N
P
=
(IMM Ci )(FTi Ai ) + (FTi Bi )(LT (IMM E))1 (IMM C)
i=1

Vec(XMT )
(40)

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Proposed technique for state realization

Main developments

Simplying Vec(XMT ) yields :

(IMM C) =
N


P
(IMM Ci )(FTi Ai ) + (FTi Bi )(LT (IMM E))1 (IMM C)
i=1

(41)
Finally, we define the new criterion to be minimized as :

=k

N
P

(IMM Ci )(FTi Ai ) + [(FTi Bi )(LT (IMM E))1

i=1

IMM ](IMM C)k

(42)

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Optimization and results

Example

Simulated example
D (2.3) y (t) + 1.3D (0.9) y (t) + 1.25y (t) = 5u(t)
Step Response
5
Analytical response
Model response
4

Amplitude

10

15

20
Time (sec)

25

30

35

40

5.7469 1.2439
0.3488 2.6746
5.8949 4.3447 0.2292 0.7784

A=
0.8593 0.3439 1.4471
1.0865
1.2439
0.3488 2.6746 0.2140

T
B = 2.1894 0.7475 0.0184 0.6236

C = 0.6105 1.1060 9.6845 0.9785
E =0
= 0.8553
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Conclusion

Conclusion

The main advantage is that the heavy analytical developments are

avoided and replaced with algebraic computations much more
easier to manipulate.

A reduced fractional state space model is obtained which

simplifies the numerical solution of that systems especially in the
non-commensurate case.

Obviously this reduction in the number of states would be helpful

for us for the synthesis of state feedback controllers.

It is important to note that the presented method is only valid for

SISO fractional systems, it would be interesting to investigate the
MIMO case.

Mohamed karim BOUAFOURA (LECAP)

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Conclusion

Conclusion

The main advantage is that the heavy analytical developments are

avoided and replaced with algebraic computations much more
easier to manipulate.

A reduced fractional state space model is obtained which

simplifies the numerical solution of that systems especially in the
non-commensurate case.

Obviously this reduction in the number of states would be helpful

for us for the synthesis of state feedback controllers.

It is important to note that the presented method is only valid for

SISO fractional systems, it would be interesting to investigate the
MIMO case.

Mohamed karim BOUAFOURA (LECAP)

Fractional state space realization

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Conclusion

Conclusion

The main advantage is that the heavy analytical developments are

avoided and replaced with algebraic computations much more
easier to manipulate.

A reduced fractional state space model is obtained which

simplifies the numerical solution of that systems especially in the
non-commensurate case.

Obviously this reduction in the number of states would be helpful

for us for the synthesis of state feedback controllers.

It is important to note that the presented method is only valid for

SISO fractional systems, it would be interesting to investigate the
MIMO case.

Mohamed karim BOUAFOURA (LECAP)

Fractional state space realization

5 November 2009

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Conclusion

Conclusion

The main advantage is that the heavy analytical developments are

avoided and replaced with algebraic computations much more
easier to manipulate.

A reduced fractional state space model is obtained which

simplifies the numerical solution of that systems especially in the
non-commensurate case.

Obviously this reduction in the number of states would be helpful

for us for the synthesis of state feedback controllers.

It is important to note that the presented method is only valid for

SISO fractional systems, it would be interesting to investigate the
MIMO case.

Mohamed karim BOUAFOURA (LECAP)

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End

Thank you for your attention

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