Hurwitz stability analysis of fractional order LTI systems according to principal characteristic equations

Abstract

With power mapping (conformal mapping), stability analyses of fractional order linear time invariant (LTI) systems are carried out by consideration of the root locus of expanded degree integer order polynomials in the principal Riemann sheet. However, it is essential to show the left half plane (LHP) stability analysis of fractional order characteristic polynomials in the s plane in order to close the gap emerging in stability analyses of fractional order and integer order systems. In this study, after briefly discussing the relation between the characteristic root orientations and the system stability, the author presents a methodology to establish principal characteristic polynomials to perform the LHP stability analysis of fractional order systems. The principal characteristic polynomials are formed by factorizing principal characteristic roots. Then, the LHP stability analysis of fractional order systems can be carried out by using the root equivalency of fractional order principal characteristic polynomials. Illustrative examples are presented to explain how to find equivalent roots of fractional order principal characteristic polynomials in order to carry out the LHP stability analyses of fractional order nominal and interval systems.

Keywords: Conformal mapping; Fractional order systems; Hurwitz stability; Left half plane stability analysis; Robust stability.