Control Techniques for a Class of Fractional Order Systems

The paper discusses several control techniques for a class of systems described by fractional order equations. The paper presents the unit frequency criteria that ensure the closed loop control for: Fractional Order Linear Systems, Fractional Order Linear Systems with nonlinear components, Time Delay Fractional Order Linear Systems, Time Delay Fractional Order Linear Systems with nonlinear components. The stability criterion is proposed for the systems composed of fractional order subsystems. These techniques are used in two applications: Soft Exoskeleton Glove Control, studied as a nonlinear model with time delay and Disabled Man-Wheelchair model, analysed as a fractional-order multi-system.