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New alternatives for analog implementation of


fractional-order integrators, differentiators
and PID controllers based...

Article in Nonlinear Dynamics · July 2017


DOI: 10.1007/s11071-017-3658-z

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6 authors, including:

Carlos Muñiz-Montero Luis Abraham Sánchez Gaspariano


Universidad Politécnica de Puebla Benemérita Universidad Autónoma de Puebla
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Victor Rodolfo Gonzalez-Diaz Esteban Tlelo-Cuautle


Benemérita Universidad Autónoma de Puebla Instituto Nacional de Astrofísica, Óptica y Ele…
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Nonlinear Dyn
DOI 10.1007/s11071-017-3658-z

ORIGINAL PAPER

New alternatives for analog implementation of


fractional-order integrators, differentiators and PID
controllers based on integer-order integrators
Carlos Muñiz-Montero · Luis V. García-Jiménez ·
Luis A. Sánchez-Gaspariano · Carlos Sánchez-López ·
Víctor R. González-Díaz · Esteban Tlelo-Cuautle

Received: 20 April 2016 / Accepted: 5 July 2017


© Springer Science+Business Media B.V. 2017

Abstract In this work, we propose an alternative for such as integrators (of integer order), differential ampli-
the circuital realization of analog fractional-order dif- fiers and two-input adder amplifiers. Most important,
ferentiators and integrators without using ladder net- contrarily to other reported solutions, the proposed real-
works. This alternative is obtained by a mathematical ization can be fulfilled using commercially available
manipulation of a rational function in a similar way to resistors and capacitors, with a reduced number of cal-
the reported for the synthesis of the variable-state fil- culations, and without negative impedance converters
ters. The advantage of the proposed implementation is or inductors. In addition, the orders of the fractional
the requirement of only simple analog design blocks, derivative and integral can be modified just varying the
gain of the differential amplifiers and adders. To val-
C. Muñiz-Montero · L. V. García-Jiménez idate the proposal of implementation, and as example
Electronics and Telecommunications Department, of application, we present simulations (HSPICE, MAT-
Universidad Politécnica de Puebla, 72640 Cuanalá, Puebla, LAB) and experimental results of a first-order plus dead
Mexico
e-mail: carlos.muniz@uppuebla.edu.mx
time plant controlled by fractional-order P I and P I D
controllers. The experimental results were obtained
L. V. García-Jiménez
e-mail: luis.garcia@uppuebla.edu.mx
from a realization using field-programmable analog
arrays. A comparison analysis highlights that the pro-
L. A. Sánchez-Gaspariano · V. R. González-Díaz
Faculty of Electronics, Benemérita Universidad Autónoma
posed alternative of implementation presents advan-
de Puebla, Jardines de San Manuel, 72592 Puebla, Mexico tages regarding a Cauer-network-based realization in
e-mail: luis.sanchezgas@correo.buap.mx terms of number of active and passive elements, num-
V. R. González-Díaz ber of passive elements with non-commercial available
e-mail: vicrodolfo.gonzales@correo.buap.mx values and design complexity.
C. Sánchez-López
Department of Electronics, Universidad Autónoma de Keywords Fractional calculus · Fractional-order
Tlaxcala, 90300 Apizaco, Tlaxcala, Mexico P I D controllers · Field-programmable analog array
e-mail: carlsan@ieee.org
E. Tlelo-Cuautle (B)
Department of Electronics, INAOE, Santa María
Tonantzintla, 72840 Puebla, Mexico
1 Introduction
e-mail: etlelo@inaoep.mx
E. Tlelo-Cuautle
The fractances are circuit elements which are charac-
Computer Department, CINVESTAV, San Pedro Zacatenco, terized by a magnitude response with roll-off ±20α
07360 Mexico City, Mexico decibels by decade and a constant-phase response at

123

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