Fractional order controller design for a class of nonlinear systems by high-order fully actuated system approach

In this paper, a fractional order controller is designed for a class of nonlinear systems by using the high-order fully actuated (HOFA) system approach. First, the original system in an affine state-space form is transformed into a HOFA system model. Second, a state-feedback controller involving the Caputo fractional derivatives is derived based on the HOFA system model. Then, in the framework of close-loop fractional order linear time invariant (LTI) systems, the gain of the fractional order controller is designed via parametric eigenstructure assignment approach. Finally, numerical simulations verify the efficiency of the designed fractional order controller.