Mixed Fractional Order Adaptive Control Based on a Scalar Update Law

In this paper, a novel mixed fractional-order model reference adaptive control (FOMRAC) strategy is investigated for fractional-order (FO) plants with state inaccessible, aiming to alleviate the computational burden present in the classical mixed FOMRAC approach. In particular, the proposed FOMRAC strategy only requires online adjustment of a scalar function, thus reducing the adaptive complexity of the system. Furthermore, our strategy ensures the boundedness of the closed-loop signals and the convergence of the output error.