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This thesis deals with developing Galerkin based solution strategies for several important classes of differential equations involving derivatives and integrals of various fractional orders. Fractional order calculus finds use in several areas of science and engineering. The use of fractional derivatives may arise purely from the mathematical viewpoint, as in controller design, or it may arise from the underlying physics of the material, as in the damping behavior of viscoelastic materials. The physical origins of the fractional damping motivated us to study viscoelastic behavior of disordered materials at three levels. At the first level, we review two first principles models of rubber viscoelasticity. This leads us to study, at the next two levels, two simple disordered systems. The study of these two simplified systems prompted us towards an infinite dimensional system which is mathematically equivalent to a fractional order derivative or integral. This infinite dimensional system forms the starting point for our Galerkin projection based approximation scheme. In a simplified study of disordered viscoelastic materials, we show that the networks of springs and dash-pots can lead to fractional power law relaxation if the damping coefficients of the dash-pots follow a certain type of random distribution. Similar results are obtained when we consider a more simplified model, which involves a random system coefficient matrix. Fractional order derivatives and integrals are infinite dimensional operators and non-local in time: the history of the state variable is needed to evaluate such operators. This non-local nature leads to expensive long-time computations (O(t2) computations for solution up to time t). A finite dimensional approximation of the fractional order derivative can alleviate this problem. We present one such approximation using a Galerkin projection. The original infinite dimensional system is replaced with an equivalent infinite dimensional system involving a partial differential equation (PDE). The Galerkin projection reduces the PDE to a finite system of ODEs. These ODEs can be solved cheaply (O(t) computations). The shape functions used for the Galerkin projection are important, and given attention. Calculations with both global shape functions as well as finite elements are presented. The discretization strategy is improved in a few steps until, finally, very good performance is obtained over a user-specifiable frequency range (not including zero). In particular, numerical examples are presented showing good performance for frequencies varying over more than 7 orders of magnitude. For any discretization held fixed, however, errors will be significant at sufficiently low or high frequencies. We discuss why such asymptotics may not significantly impact the engineering utility of the method. Following this, we identify eight important classes of fractional differential equations (FDEs) and fractional integrodifferential equations (FIEs), and develop separate Galerkin based solution strategies for each of them. Distinction between these classes arises from the fact that both Riemann-Liouville as well as Caputo type derivatives used in this work do not, in general, follow either the law of exponents or the commutative property. Criteria used to identify these classes include; the initial conditions used, order of the highest derivative, integer or fractional order highest derivative, single or multiterm fractional derivatives and integrals. A key feature of our approximation scheme is the development of differential algebraic equations (DAEs) when the highest order derivative is fractional or the equation involves fractional integrals only. To demonstrate the effectiveness of our approximation scheme, we compare the numerical results with analytical solutions, when available, or with suitably developed series solutions. Our approximation scheme matches analytical/series solutions very well for all classes considered.

In this paper it is illustrated that currently there is a new element in electronics - fractional order filter consisting of fractal devices. The circuits selected are presented and analyzed in this diploma thesis. The calculation of the basic characteristics and parameters of the filter of fractal elements was made. An analysis of the functions and their graphs were presented. The simulation of fractional-order filter for its design was made in the program Matlab. The graphs of frequency characteristics (magnitude and phase response) were obtained in the program OrCAD. The examples of using this fractional order filter are described.

This thesis presents a numerical approach based on generalized fractional-order Chebyshev wavelets for solving fractional-order optimal control problems. The exact value of the Riemann– Liouville fractional integral operator of the generalized fractional-order Chebyshev wavelets is computed by applying the regularized beta function. We apply the given wavelets, the exact formula, and the collocation method to transform the studied problem into a new optimization problem. The convergence analysis of the proposed method is provided. The present method is extended for solving fractional-order, distributed-order, and variable-order optimal control problems. Illustrative examples are considered to show the advantage of this method in comparison with the existing methods in the literature.

The classical Fickian model for solute transport in porous media cannot correctly predict the spreading (the dispersion) of contaminant plumes in a heterogeneous subsoil unless its structure is completely characterized. Although the required precision is outside the reach of current field characterization methods, the classical Fickian model remains the most widely used model among practitioners. Two approaches can be adopted to solve the effect of physical heterogeneity on transport. First, upscaling methods allow one to compute “apparent” scale-dependent parameters to be used in the classical Fickian model. In the second approach, upscaled (non-Fickian) transport equations with scale-independent parameters are used. This research aims at comparing upscaling methods for Fickian transport parameters with non-Fickian upscaled transport equations, and evaluate their capabilities to predict solute transport in heterogeneous media. The models were tested using simplified numerical examples (perfectly stratified aquifers and bidimensional heterogeneous media). Hypothetical lognormal permeability fields were investigated, for different values of variance, correlation length and anisotropy ratio. Examples exhibiting discrete and multimodal permeability distributions were also investigated using both numerical examples and a physical laboratory experiment. It was found that non-Fickian transport equations involving fractional derivatives have higher upscaling capabilities regarding the prediction of contaminant plume migration and spreading, although their key parameters can only be inferred from inverse modelling of test data.

This work made publicly available electronically on July 7, 2011.This thesis developed a new practical tuning method for fractional order proportional and integral controllers (FO-PI / PI®) for varying time-delay systems like networked con- trol systems (NCS), sensor networks, etc. Based on previously proposed FO-PI controller tuning rules using fractional Ms constrained integral gain optimization (F-MIGO), simulta- neous maximization of the jitter margin and integrated time weighted absolute error (ITAE) performance for a set of hundred gain delay time-constant (KLT) systems having di®erent time-constants and time-delay values are achieved. A multi-objective optimization algo- rithm is used to simultaneously maximize the ITAE factor and jitter margin of the plants at initial F-MIGO gain parameters. The new values of controller gain parameters are gen- eralized to give a new set of optimal fractional order proportional integral (OFOPI) tuning rules such that the jitter margin and system performance of closed-loop KLT systems are maximized and yet the closed-loop feedback system is stable. This is further tested and veri¯ed by simulation techniques. Comparisons are made with other existing proportional integral derivative (PID) and fractional order proportional integral (PI) tuning rules to prove the e±ciency of the new technique. It is further shown that OFOPI tuning rules per- form better than traditional tuning methods for lag-dominated FOPDT systems, because it can take the varying time-delay better into account. The tuning method is modi¯ed to work with discrete-time controllers in the context of NCSs. Furthermore, experimental results in a NCS platform, Stand-alone Smart Wheel (omnidirectional networked control robot wheel), are reported using the tuning rules developed in this thesis. The optimization tuning method performed almost equally well in practice as in simulations. The thesis also shows that the tuning rule development procedure for OFOPI is not only valid for FOPDT systems but is also applicable for other general classes of plants which could be reduced to ¯rst order plant systems. Temperature control in heat °ow apparatus and water-level control in a coupled tank system using FO-PI tuning rules are other major contributions of this thesis work.

Η παρούσα εργασία αποτελεί μια ανασκόπηση των βασικότερων στοιχείων της θεωρίας της κλασματικής ανάλυσης, των γραμμικών συνήθων διαφορικών εξισώσεων κλασματικής τάξης, καθώς και εφαρμογές αυτών. Η εργασία αυτή αποτελείται από τρία μέρη: Στο πρώτο μέρος αναφέρουμε ειδικές συναρτήσεις (Γάμμα συνάρτηση, Βήτα συνάρτηση και συνάρτηση Mittag – Leffler) που χρησιμοποιούνται στην κλασματική ανάλυση, καθώς και ιδιότητες αυτών. Επιπλέον, ορίζεται το κλασματικό ολοκλήρωμα, οι κλασματικές παράγωγοι Riemann – Liouville και Caputo καθώς και οι σειριακές (sequential) κλασματικές παράγωγοι και δίνονται ιδιότητες αυτών. Το δεύτερο μέρος περιλαμβάνει εισαγωγικά ιστορικά στοιχεία μελέτης των συνήθων διαφορικών εξισώσεων κλασματικής τάξης. Αναφέρεται το θεώρημα ύπαρξης και μοναδικότητας της λύσης ενός προβλήματος αρχικών τιμών και δίνονται κάποιοι τρόποι επίλυσης γραμμικών διαφορικών εξισώσεων κλασματικής τάξης με σταθερούς συντελεστές. Το τρίτο μέρος αφορά σε εφαρμογές των συνήθων διαφορικών εξισώσεων κλασματικής τάξης. Αρχικά, παραθέτουμε κάποιες εφαρμογές σε διάφορους κλάδους των επιστημών και προσεγγίζουμε τη γραμμική βισκοελαστικότητα διαμέσου της κλασματικής ανάλυσης. Στη συνέχεια πιο αναλυτικά με τη βοήθεια των κλασματικών διαφορικών εξισώσεων μελετάμε το πρόβλημα του Basset και ταλαντωτικές διαδικασίες με κλασματική απόσβεση. / This dissertation is a review of the fractional analysis theory for linear ordinary differential equations (ODE)of fractional order. The first part of our work is a review of some special functions (Gamma, Beta and Mittag - Leffler) which are used in the fractional analysis as well as their properties. We also define the fractional integral, the Riemann - Liouville and Caputo fractional derivatives, the sequential derivative of fractional order and their properties. In the second part, we introduce the basic theory of fractional order ODE's. We present the theorem of existence and uniqueness of the solution of an initial values problem and we give some algorithms for solving linear fractional order ODE's with constant coefficients. In the last part we present some applications of fractional order ODE's. Some of these are: viscoelasticity, Basset's problem and oscillatory processes of fractional damping.

The attitude determination and control subsystem (ADCS) is a critical part of any satellite conducting scientific experiments that require accurate positioning (such as Earth observation and solar spectroscopy). The engineering design process of this subsystem has a long heritage; yet, it is surrounded by several limitations due to the stringent physical constraints imposed on small satellites. These limitations (e.g., limited computational capabilities, power, and volume) require an improved approach for the purpose of attitude determination (AD) and control. Previous space missions relied mostly on the extended Kalman filter (EKF) to estimate the relative orientation of the spacecraft because it yields an optimal estimator under the assumption that the measurement and process models are white Gaussian processes. However, this filter suffers from several limitations such as a high computational cost. This thesis addresses all the limitations found in small satellites by introducing a computationally efficient algorithm for AD based on a fuzzy inference system with a gradient decent optimization technique to calculate and optimize the bounds of the membership functions. Also, an optimal controller based on a fractional proportional-integral-derivative controller has been implemented to provide an energy-efficient control scheme. The AD algorithm presented in this thesis relies on the residual information of the Earth magnetic field. In contrast to current approaches, the new algorithm is immune to several limitations such as sensitivity to initial conditions and divergence problems. Additionally, its computational cost has been reduced. Simulation results illustrate a higher pointing stability, while maintaining satisfying levels of pointing accuracy and increasing reliability. Moreover, the optimal controller designed provides a shorter time delay, settling time, and steady-state error. This demonstrates that accurate attitude determination and control can be conducted in small spacecraft.

Surface temperature control of a thin plate is investigated. Temperature is controlled on one side of the plate using the other side temperature measurements. This is a decades-old problem, reactivated more recently by the awareness that this is a fractional-order problem that justifies the investigation of the use of fractional order calculus. The approach is based on a transfer function obtained from the one-dimensional heat conduction equation solution that results in a fractional-order s-domain representation. Both the inverse problem approach and the fractional controller approach are studied here to control the surface temperature, the first one using inverse problem plus a Proportional only controller, and the second one using only the fractional controller. The direct problem defined as the ratio of the output to the input, while the inverse problem defined as the ratio of the input to the output. Both transfer functions are obtained, and the resulting fractional-order transfer functions were approximated using Taylor expansion and Zero-Pole expansion. The finite number of terms transfer functions were used to form an open-loop control scheme and a closed-loop control scheme. Simulation studies were done for both control schemes and experiments were carried out for closed-loop control schemes. For the fractional controller approach, the fractional controller was designed and used in a closed-loop scheme. Simulations were done for fractional-order-integral, fractional-order-derivative and fractional-integral-derivative controller designs. The experimental study focussed on the fractional-order-integral-derivative controller design. The Fractional-order controller results are compared to integer-order controller’s results. The advantages of using fractional order controllers were evaluated. Both Zero-Pole and Taylor expansions are used to approximate the plant transfer functions and both expansions results are compared. The results show that the use of fractional order controller performs better, in particular concerning the overshoot.

Disertační práce se zabývá syntézou a analýzou nových obvodových struktur neceločíselného (fraktálního) řádu s řiditelnými parametry. Hlavní cíl této práce je návrh nových řešení filtračních struktur fraktálního řádu v proudovém módu, emulátorů prvků fraktálního řádu a také oscilátorů. Práce obsahuje návrh tří emulátorů pasivního prvku fraktálního řádu, tři filtrační struktury a dva oscilátory navržené na základě využití pasivního prvku fraktálního řádu v jejich obvodové struktuře a dvě obecné koncepce filtrů fraktálního řádu založené na využití aproximace přenosové funkce fraktálního řádu. Na základě obecných koncepcí jsou v práci navrženy filtry fraktálního řádu typu dolní a horní propust. Díky aktivním prvkům s přeladitelnými parametry, které jsou užity v obvodových strukturách je zajištěna řiditelnost řádu filtru, jeho pólového kmitočtu a některých případech i činitele jakosti. Vlastnosti všech zapojení jsou ověřeny počítačovými simulacemi za pomoci behavioralních simulačních modelů aktivních prvků. Některé z uvedených obvodů byly realizovány na DPS a jejich vlastnosti ověřeny experimentálním měřením.