Fractional Order Derivative and
Integral Using LabVIEW
Auralius Manurung
RIS-Lab, GSNU
October, 2010
Grundwald-Letnikov Fractional
Derivative Definition
• Differential operator with non-integer:
t −a
h
j α
1 1 α
Dα
a t f (t ) = lim
h→0 hα
∑ (−1)
j f (t − jh) =
h→0 α h
lim
∆ f (t )
j =0 h
• a and t are limits of the operation.
• [x] means integer part of x .
α
• h f (t ) is generalized finite difference of order α
∆
with step h .
• Numerical calculation:
N (t )
α
(t − L ) Dt f (t ) = limh
−α
∑ b j ( f (t − jh)
h→0
j =0
• Short memory principal, where L is the memory
length and h is the time sampling.
t L
N (t ) = min ,
h h
a +α
• Binomial bj is computed as: b j = 1 − b j −1
j
• In theory, fractional derivatives requires infinite
memory. Hence, approximation using finite
memory must be done.
• Laplace of derivative can be written as sαF(s).
While for integral, it can be written as s- α F(s).
• Hence, both fractional derivative and fractional
integral can be expressed using same definition
but with different sign for α. Fractional derivative
has 0<α<1 while fractional integral has -1<α<0.
Implementation to LabVIEW
• Algorithm:
• We have three SubVIs:
– VI-file for initialization (init_fo.vi).
– VI-file for fractional order derivative/integral
implementation (fo_subvi.vi).
– DO NOT put VI-file for initialization in a loop. It
must be executed once.
– Another VI is for holding global variables. Just
include this vi in your project (fo_global_vars.vi).
Init: FOD/I:
Allocate memory Fractional order derivative/integral
Compute binomial coefficients implementation
Results
Input file is a 1-Hz square wave function. Process was run at sampling rate of 20 ms,
using 100 samples of memory.
α = 0.1 α = 0.5
If α is negative, it will turn into fractional integral.
α = -0.1 α = -0.5
Comparison with Integer Order
Derivative and Integral
Using as Fractional Order Controllers
• Fractional PID, which is also known as Pi- λ Dδ
• Transfer function:
C(s) = U(s)/E(s) = Kp + Tis-λ + Tdsδ
u(t ) = K pe(t ) + Ti Dt−λ + Td Dtδ
• It is expected to enhance system control
performance since more tuning parameters
are introduced.
References
• More details, please refer to :
– I. Petras, B.M. Vinagre, “Practical Application of Digital Fractional-
order Controller of Temperature Control”, Acta Montanistica Slovacca,
vol. 7, no. 2, pp. 131-137, 2002
– I.Podlubny, “Fractional Differential Equations”, Academic Press, San
Diego, 1999
– Y . Q. Chen, I. Petras, D. Xue, “Fractional Order Control – A Tutorial”,
American Control Conference, 2009
– D. Xue, C. Zhao, Y.Q. Chen, “Fractional Order PID Control of A DC
Motor with Elastic Shaft: A Case Study”, American Control Conference,
2006
• You can download all the files in:
http://sites.google.com/site/auraliusproject
