Introducing fractional order dynamics in neuromorphic control: application to a velocity servomotor*

Neuromorphic control (NC) is inspired by neuronal systems where signals are encoded into spikes or pulses. Fractional order control extends the classical (integer order) control theory to non-integer orders, which allows the controlled system to achieve more flexible and robust behaviors. This paper explores the combination of neuromorphic and fractional order control in an attempt to maintain their individual benefits. In summary, we propose a fractional order control structure that includes the neuron as an additional element. In order to show the possibilities of this novel strategy, referred to as fractional neuromorphic control (FNC), two types of simulation models are presented: a fast-to-simulate block diagram in Simulink, and a physics-based simulation model, developed using the Simscape toolbox, that includes the electrical behavior of the silicon neuron circuit. A practical step-by-step designing procedure of the analog implementation of the neuron is given.