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=
_
d
dt
_
(1)
was dened in the 19
th
century by Riemann and Liouville.
The fractional derivative of f (t) is dened as being an
integer derivative of order + 1 (. stands for the oor
operator) of a non-integer integral of order [SKM93]:
D
f (t) = D
+1
_
I
+1
f (t)
_
=
1
( + 1 )
_
d
dt
_
+1
t
_
0
f () d
(t )
(2)
where t > 0, R
+
, and the Eulers function is dened
as:
(x) =
_
0
e
t
t
x1
dt, x R
\{N
}. (3)
A more concise algebraic tool can be used to represent
fractional systems: the Laplace transform. The Laplace trans-
form of a order derivative ( R
+
) of a signal x(t)
relaxed at t = 0 is obtained by taking the Laplace transform
of (2) [OS74]:
L {D
x(t)} = s
, (5)
and the Cole-Cole function ([CC41])
F
cc
(s) =
A
s
+
u
, (6)
where
u
R
+
and A R.
F
cc
(s) has one s
-pole at
u
and, as shown by [Ous83],
[Ous95], F
cc
(s) might have s-poles at:
P
k
= (
u
)
1
e
j
2k+1
, (7)
2008 American Control Conference
Westin Seattle Hotel, Seattle, Washington, USA
June 11-13, 2008
WeB18.5
978-1-4244-2079-7/08/$25.00 2008 AACC. 1316
= 1
= 2
= 2
= 3
= 3
Im
Re
-1
-1
1
1
0
0
: stable poles
: unstable poles
Fig. 1. Pole locus of Fcc versus differentiator order for 1 < 3. Fcc
has two complex conjugate poles, unstable beyond = 2.
provided there exists k Z such that:
(1 +)
2
< k <
(1 +)
2
. (8)
Hence, the number of s-poles equals:
0 when < 1,
1 when = 1,
2 when 1 < < 3,
3 when = 3,
4 when 3 < < 5.
The s-pole locus is plotted in g. 1 versus differentiation
order varying from 1 to 3. For 0 < 1, F
cc
is stable
since it has no s-pole. When 1 < < 2, F
cc
has two stable
complex conjugate poles. Beyond = 2, it has at least two
unstable poles.
A third elementary function (Havriliak-Negami) was pro-
posed by [HN66], [HN67]:
F
hn
(s) =
A
(s
1
+
u
)
2
. (9)
Although, it generalizes the two previous ones, it is rarely
used in time domain-simulations because of the difculty of
its synthesis.
A rational realization of the Havriliak-Negami elementary
function is proposed in [Lau03] for (
1
,
2
) (]0, 1[)
2
and
is based on diffusive representation. Nevertheless, this rep-
resentation does not allow to have a band limited fractional
behavior, which is generally present in physical systems,
i.e. physical systems do not have an innite band fractional
behaviour.
The objective of this paper is to develop a rational
realization of Havriliak-Negami elementary function on a
bandlimited frequency for
1
R
+
and
2
R, and to
prove its capability to model diffusive systems, such that
thermal system, with very few parameters.
This new realization is based on the splitting of Havriliak-
Negami elementary function into a Davidson-Cole and a
complementary function. Then, the rational realization of
both functions is obtained by using the principle of recur-
sive poles and zeros synthesis of a bandlimited fractional
integrator as described by [Ous83], [Ous95].
III. SYNTHESIS OF FRACTIONAL OPERATORS IN A
BANDLIMITED FREQUENCY
Considering the bandlimited fractional behavior of real
physical systems and the practical limitations of input and
output signals (Shannons cut-off frequency and the spec-
trum of the input signal), fractional operators are usually
approximated by high order rational models within a limited
frequency band. As a result, a fractional model and its
rational approximation have the same dynamics within a
limited frequency band. The most commonly used approx-
imation of the fractional integro-differentiator s
in the
bandlimited frequency [
A
,
B
] is the recursive distribution
of zeros and poles proposed by [Ous83] and explained below.
Rational realization of fractional operators in the bandlimited
frequency [
A
,
B
] induces deterioration around the edge
frequencies
A
and
B
as shown in g. 2 and 3. This
deterioration is known as edge effect and is generally reduced
by extending the frequency band on which the realization is
carried out from [
A
,
B
] to [
b
,
h
], where
b
=
A
h
=
B
. (10)
A dedicated study [Ous95] has shown that the edge
effect is considerably reduced by choosing a frequency-band
spreading factor () up to 10 (the approximation is then
closer to the fractional behavior on [
b
,
h
]). As a result,
s
[A,B]
= C
0
_
1 +
s
h
1 +
s
b
_
C
0
N
k=1
1 +
s
k
1 +
s
k
(11)
where
0
=
1
2
b
,
0
=
1
2
b
, (12)
k+1
k
= ,
k+1
k
= , (13)
C
0
=
_
b
_
_
1 +
2
b
1 +
2
h
_
2
. (14)
N is the number of poles and zeros used to approximate
s
[A,B]
, which tends theoretically to . But, an approxi-
mation with 2 poles and zeros per decade leads already to
an acceptable error. The real parameters and dene by
their own the differentiation order :
=
log ()
log ( )
. (15)
1317
10
3
10
2
10
1
10
0
10
1
10
2
10
3
40
20
0
20
40
10
3
10
2
10
1
10
0
10
1
10
2
10
3
100
80
60
40
20
0
Frequency (rad/s)
Frequency (rad/s)
P
h
a
s
e
(
r
a
d
)
M
a
g
n
i
t
u
d
e
(
d
B
)
b
A
B
h
s
[A,B]
asymptotic behavior
Fig. 2. Fractional integrator s
0.5
and its approximation s
0.5
[0.1,10]
based
on recursive poles and zeros realization [Ous95], for = 10in (10)
10
4
10
2
10
0
10
2
10
4
100
50
0
50
100
10
4
10
2
10
0
10
2
10
4
100
80
60
40
20
0
s
[A,B]
M
a
g
n
i
t
u
d
e
(
d
B
)
Frequency (rad/s)
P
h
a
s
e
(
d
e
g
)
= 0.2
= 0.5
= 0.8
= 1.1
Fig. 3. Fractional integrators s
[10
2
,10
2
]
for
= 0.2, 0.5, 0.8 and 1.1, for = 10
IV. SYNTHESIS OF HAVRILIAK-NEGAMI FUNCTION
In this paper, Havriliak-Negami function:
F
hn
(s) = (s
1
+
u
)
2
(16)
is synthesized for
2
R, and (
1
,
u
) R
2
+
.
Considering M as the number of s-roots P
1
, P
2
, . . . , P
M
of F
hn
(s) (M depends on
1
as explained in part I). Hence,
F
hn
(s) can be written as:
F
hn
(s) =
_
M
m=1
(s P
m
)
2
_
s +
u
1
(
1
M)
_
2(1M)
_
(s)
(17)
where the asymptotic behaviors of F
hn
(s) and the function
between the squared brackets are the same. Moreover, this
asymptotic behavior and a Davidson-Cole lead to the same
formulation of their approximation.
(s) is dened as the ratio of F
hn
(s) and the function
between the squared brackets.
Thus, since it is not a s-root for
1
[0, 1], F
hn
(s) can
be split into the product of two functions:
F
hn
(s) = F
1
(s) (s) (18)
where F
1
corresponds to a Davidson-Cole elementary func-
tion:
F
1
(s) =
_
s +
1
1
u
_
12
. (19)
The asymptotic behaviors of F
hn
(j) and F
1
(j) when
0 and + are the same, since
lim
0
F
hn
(j) = lim
0
F
1
(j) =
2
u
. (20)
lim
F
hn
(j) = lim
F
1
(j) = j. (21)
Moreover, in the vicinity of , both functions converge
to the same rate:
F
hn
(j) (j)
12
, as (22)
F
1
(j) (j)
12
, as . (23)
As seen previously, F
1
(s) is approximated by a recursive
distribution of poles and zeros. The additional function
(s) =
F
hn
(s)
F
1
(s)
, (24)
plotted in Fig. 4, plays a signicant role in median frequen-
cies (around
1
1
u
). Its synthesis is developed in section IV-A.
Remarks
1) When
1
tends to 1, the Havriliak-Negami function
(16) tends to the Davidson-Cole function (19), (s)
tends to 1, and hence, F
hn
(s) tends to F
1
(s).
2) When
1
tends to 0, the Havriliak-Negami function
(16) is far from the Davidson-Cole function, (s)
tends to F
hn
(s) (18), and hence, F
1
(s) tends to 1.
A. Basic synthesis of (s)
The gain diagram of (s), is log-symmetric with respect
to
1
1
u
(g. 4). The principle of poles and zeros recursive
distribution underlined in section III is now used to synthe-
size (s) in the frequency band
_
u
,
u
where
= max (
1
,
2
) , (25)
1
= max
_
u
h
,
h
u
_
, (26)
2
= max
_
u
b
,
b
u
_
. (27)
and = 100.
This frequency band
_
u
,
u
is subdivided into 2N
bands, namely
_
e
k
,
e
k+1
e1
=
u
, (28)
1318
(a)
(b)
(c)
u
Frequency (rad/s)
Frequency (rad/s)
Frequency (rad/s)
Frequency (rad/s)
Frequency (rad/s)
Frequency (rad/s)
M
a
g
n
i
t
u
d
e
(
d
B
)
M
a
g
n
i
t
u
d
e
(
d
B
)
M
a
g
n
i
t
u
d
e
(
d
B
)
|(s)|
dB
|(s)|
dB
|(s)|
dB
1
2
3
e1
e1
e1
e2
e2
e2
e3
e3
e3
e4
e4
e4
e5
e5
e5
e6
e7
Fig. 4. Principles of the non recursive distribution of poles () and zeros
() for the synthesis of (s) on the frequency band [
b
,
h
], for (a) u
b
h
, (b)
b
u
h
and (c)
b
h
u.
and
e
k+1
e
k
=
1
N
. (29)
Then, a recursive distribution of M
k
poles and zeros is
applied on every
_
e
k
,
e
k+1
k,0
=
1
2
k
e
k
,
k,0
=
1
2
k
k
e
k
, (30)
k,m+1
k,m
=
k
,
k,m+1
k,m
=
k
. (31)
The real parameters
k
and
k
dene a local differentiation
order
k
:
k
=
log (
k
)
log (
k
k
)
. (32)
Thus, the approximation
1
(s) of (s) in the frequency
band
_
u
,
u
is given by:
(s)
1
(s) =
2N
k=1
M
k
m=1
s +
k,m
s +
k,m
(33)
2 poles and zeros per decade are typically enough to synthe-
sis and F
1
functions.
Finally, by ordering all the poles and all the zeros as a
global non recursive distribution,
1
(s) can be written as
10
5
10
0
10
5
6
4
2
0
10
0
10
5
0
5
10
M
a
g
n
i
t
u
d
e
(
d
B
)
Pulsation (rad/s)
P
h
a
s
e
(
d
e
g
)
(s)
1
(s)
2
(s)
Fig. 5. Comparison between synthesis of
1
(s) and
2
(s) linked to the
Havriliak-Negami function F
hn
(s) = s
0.5
+ 1
1.5
on the frequency
band [0.01, 100] ( symbols) with two poles and two zeros per decade and
the frequency band spreading factor = 100
.
the following product:
1
(s) =
2NM
k
i=1
s +
i
s +
i
. (34)
B. Improved synthesis of (s)
While synthesizing
1
(s), the modulus of the error
((j)
1
(j)),
_
u
,
u
, is maximum at
1
1
u
.
For
1
0, the gain of the Davidson-Cole function is
much less than the gain of
1
(s) at
1
1
u
.
In the opposite case, for
1
1, the gain of
1
(s) is
much less than the gain of the Davidson-Cole function at
1
u
.
An improved synthesis of (s) is obtained by using
2
(s),
which is a weighted
1
(s) approximation:
2
(s) =
1
1
(s) . (35)
The use of
2
(s) allows to reduce considerably the synthesis
error around
1
1
u
. Fig. 5 shows the improvements introduced
by the approximation
2
(s) of (s) as compared to the
approximation
1
(s).
C. Synthesis of Havriliak-Negami elementary function using
2
approximation
Syntheses for F
hn
(s) = (s
1
+ 1)
2
with
2
= 0.5
and
1
respectively equal to 0.1, 0.25, 0.5, 0.75 and 0.9 are
presented on Fig. 6. The frequency band used for synthesis
is symbolized by squares and corresponds to [0.1, 10] rad/s.
V. EXTENSION OF THE METHOD FOR
1
R
+
As explained in section II, a function
F
cc
(s) = s
1
+ (36)
1319
10
3
10
2
10
1
10
0
10
1
10
2
10
3
25
20
15
10
5
0
10
3
10
2
10
1
10
0
10
1
10
2
10
3
40
30
20
10
0
10
0
3
2
1
0
1
= 0.9
1
= 0.9
1
= 0.5
1
= 0.5
1
= 0.1
1
= 0.1
1
= 0.1
F
hn
(s)
F
hn
(s)
M
a
g
n
i
t
u
d
e
(
d
B
)
Frequency (rad/s)
P
h
a
s
e
(
d
e
g
)
Fig. 6. Bode diagram of function F
hn
(s) = (s
1
+ 1)
0.5
on the
frequency band [0.1, 10] pour
1
=0.1, 0.25, 0.5, 0.75 and 0.9
has M s-roots, depending on the fractional order
1
. The
synthesis when 1, which implies M 1, is then
developed.
Due to these M s-roots, the Havriliak-Negami function,
F
hn
(s) becomes (17). Thus, every Davidson-Cole function,
such that (s +
a
)
(with
a
=
k
or ), are approximated
with recursive poles and zeros distributions (section III).
Indeed, as
b
is replaced by and considering
h
>> ,
equation (11) leads to
(s +)
_
s +
s +
h
_
k=1
s +
k
s +
k
. (37)
where
F
hn
(s) =
M
m=1
K1
k1=1
s+
mk
1
s+
mk
1
1>1
K2
k2=1
C
2
s+
k
2
s+
k
2
.
K3
k3=1
C
3
s+
k
3
s+
k
3
2(s)
(38)
and nally, by ordering all poles and all zeros, to the relation:
F
hn
(s) =
MK1K2K3
i=1
s +
i
s +
i
. (39)
The result of this synthesis is shown on the Bode diagram
for F
hn
(s) = (s
1
+ 1)
0.5
with
1
= .1, 0.25, ..., 0.9
(Fig. 6) and for F
hn
(s) = (s
1
+ 1)
1.5
with
1
=
1.1, 1.3, ..., 1.9 (Fig. 7).
VI. EXAMPLE
Thermal systems have a fractional nature. Cole-Cole
function had been previously used to model the thermal
ux in a thermal bench with few parameters ([SMO05],
[MASO06]). A model based on Havriliak-Negami functions
10
3
10
2
10
1
10
0
10
1
10
2
10
3
150
100
50
0
10
3
10
2
10
1
10
0
10
1
10
2
10
3
250
200
150
100
50
0
10
0
10
0
10
20
xa
y
a
M
a
g
n
i
t
u
d
e
(
d
B
)
Frequency (rad/s)
P
h
a
s
e
(
d
e
g
)
F (s)
F (s)
= 1.1
= 1.1
= 1.9
= 1.9
Fig. 7. Bode diagram of function F
hn
(s) = (s
1
+ 1)
1.5
on the
frequency band [0.1, 10] pour
1
=1.1, 1.3, 1.5, 1.7 and 1.9
.
heated surface
insert tool
sensor
tool holder
thermocouple T
q
Fig. 8. Description of operation
allow even more to reduce the number of model parameters
([SMMO08]).
In this paper, the example concerns a thermal application
in the eld of machining by turning (See [BCPO01] for a
more complete description of the experimental protocole).
The goal is to estimate the heat ux (t) during machining,
by using an inverse model obtained off-line and using system
identication (as direct measurement of heat ux is not
possible).
To obtain the machining tool model, a thermocouple (type
T) is embedded close to the tip of the insert tool (Fig. 8).
Heat ux is then generated using a heat resistor formed by
a platinum lm (10 m) placed on a thin ceramic substrate
(250 m). This leads to neglect the thermal inertia of such
a resistor compared to the sampling interval (h=0.4s). Two
sequences have been generated, one for parameter estimation
and the second one for model validation. A rst pseudoran-
dom binary sequence is used as input signal. The system
is identied by applying output error model. Due to its
exibility in the frequency domain with only 4 parameters,
our model is then based on the Havriliak-Negami function.
In fact, a fractional integrator proved to be necessary, and
1320
0 10 20 30 40 50 60 70 80
0
0.5
1
0 10 20 30 40 50 60 70 80
0
0.5
1
1.5
2
2.5
0 10 20 30 40 50 60 70 80
0.01
0
0.01
Time (s)
Time (s)
Time (s)
I
n
p
u
t
O
u
p
u
t
E
r
r
o
r
System
Model
Fig. 9. System identication using a Havriliak-Negami function and
modeling error on identication data
0 10 20 30 40 50 60 70 80
0
0.5
1
0 10 20 30 40 50 60 70 80
1
0
1
2
3
0 10 20 30 40 50 60 70 80
0.01
0
0.01
0.02
0.03
Time (s)
Time (s)
Time (s)
I
n
p
u
t
O
u
p
u
t
E
r
r
o
r
System
Model
Fig. 10. Validation data and modeling error using Havriliak-Negami
function
the model is therefore set to:
F (s) =
k
s
(s
1
+
u
)
2
. (40)
s