International Journal of Control

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Discussion on Barbalat Lemma extensions for

conformable fractional integrals

A. Souahi, O. Naifar, A. Ben Makhlouf & M. A. Hammami

To cite this article: A. Souahi, O. Naifar, A. Ben Makhlouf & M. A. Hammami (2017): Discussion
on Barbalat Lemma extensions for conformable fractional integrals, International Journal of Control,
DOI: 10.1080/00207179.2017.1350754

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Published online: 14 Jul 2017.

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INTERNATIONAL JOURNAL OF CONTROL, 
https://doi.org/./..

Discussion on Barbalat Lemma extensions for conformable fractional integrals

A. Souahia , O. Naifarb , A. Ben Makhloufc and M. A. Hammamic
a
Department of Mathematics, Laboratory of Applied Mathematics and Modeling, University of  May  Guelma, Guelma, Algeria; b CEM Lab,
Department of Electrical Engineering, National School of Engineering, University of Sfax, Tunisia; c Department of Mathematics, Faculty of
Sciences of Sfax, University of Sfax, Sfax, Tunisia

ABSTRACT ARTICLE HISTORY

In this paper, the Barbalat-type lemmas for conformable fractional order integrals which can be used Received  December 
to conclude the convergence of a function to zero is discussed. Accepted  June 

KEYWORDS
Conformable fractional
derivative; Barbalat-like
lemmas; conformable
fractional differential
equation

1. Introduction derivative called ‘the conformable fractional derivative’.

Indeed, both Riemann Liouville (RL) and Caputo defi-
Determining solutions of nonlinear systems is an impor-
nitions share some weaknesses, for example: the prop-
tant issue in many research fields (Eslami, 2015, 2016b;
erty DαRL (1) = 0 is not satisfied with the RL deriva-
Eslami & Mirzazadeh, 2016; Eslami, Mirzazadeh, &
tive. In addition, the product of two functions as
Neirameh, 2015; Eslami, Neyrame, & Ebrahimi, 2012;
Dα (fg) = fDα g + gDα f and the chain rule as Dα (fog)(t) =
Mirzazadeh, Eslami, & Biswas, 2014). Nowadays, frac-
Dα (f)(g(t))Dα (g)(t) are not satisfied either for RL deriva-
tional calculus is an interesting research field due to
tive or for Caputo one. Moreover, the monotonicity
its applications in several science areas and engineering
of a function f cannot be determined from the sign
(Cenesiz, Baleanu, Kurt, & Tasbozan, 2016; Chung, 2015;
of Dα (f).
Eslami, 2016a; Eslami & Rezazadeh, 2015; Hilfer, 2000;
Later in Abdeljawad (2015), the author developed
Iyiola & Ojo, 2015; Karayer, Demirhan, & Bykkilic, 2016;
more properties for the conformable derivative. A lot of
Kilbas, Srivastava, & Trujillo, 2006; Kurt, Cenesiz, & Tas-
investigation on it are currently conducted, we refer the
bozan, 2015; Tasbozan, Cenesiz, & Kurt, 2016; Wang &
reader to Bayour and Torres (2016), Cenesiz et al. (2016),
Fu, 2016).
Chung (2015), Eslami (2016a), Eslami and Rezazadeh
In the same context of fractional calculus as well as
(2015), Hilfer (2000), Iyiola and Ojo (2015), Karayer et al.
in control theory, theoretical aspect such as controllabil-
(2016), Kilbas et al. (2006), Kurt et al. (2015), Tasbozan
ity, Lyapunov theory, Mittag leffler stability, and asymp-
et al. (2016), Wang and Fu (2016), and references cited
totic behaviour has been widely developed, see Aguila-
therein.
Camacho, Duarte-Mermoud, and Gallegos (2014), Ben-
The Barbalat’s lemma is a fundamental result and it
Abdallah, Dlala, and Hammami (2007), Ben Makhlouf
became popular due to its applicability in the asymptotic
and Hammami (2014), Chen, Wu, He, and Yin (2015),
stability analysis of time-varying nonlinear systems (Hou,
Chen, He, Chai, and Wu (2014), Duarte-Mermoud,
Duan, & Guo, 2010; Narendra & Annaswamy, 2005; Yu
Aguila-Camacho, Gallegos, and Castro-Linares (2015),
& Wu, 2014). This lemma is stated in Khalil (1996),
Ghanmi, Hadj Taieb, and Hammami (2013), Hammi and
Popov (1973), and Slotine and Li (1991) as follows: If
Hammami (2014), Li, Chen, and Podlubny (2009), Liu,
the function e(t) is nonnegative, uniformly continuous
Jiang, Li, and Zhou (2016), Naifar, Ben Makhlouf, Ham-
and
mami, and Ouali (2015), and Naifar, Ben Makhlouf, and
 +∞
Hammami (2016).
Recently, in Khalil, Al Horani, Yousef, and Sababheh e(s)ds < ∞,
0
(2014), the authors defined a new simple yet effective

CONTACT M. A. Hammami MohamedAli.Hammami@fss.rnu.tn

©  Informa UK Limited, trading as Taylor & Francis Group
2 A. SOUAHI ET AL.
then
lim e(t ) = 0.
t−→+∞
Some variants and generalisations were derived for the
Barbalat lemma, an interesting one appeared in the lit-
erature of control theory see, Tao (1997). If
 +∞
e2 (s)ds < ∞
0
and if e (s) is bounded, then
lim e(t ) = 0.
t−→+∞
In the case of Caputo fractional derivative, Gallegos
et al. (Gallegos, Duarte-Mermoud, Aguila-Camacho, &
Castro-Linares, 2015) gave interesting results concerning
the applicability of the Barbalat lemma (case Khalil, 1996;
Popov, 1973; Slotine & Li, 1991) for fractional integrals.
They demonstrated the invalidity of it. That is to say, there
is no analogue of the version of Barbalat lemma given in
Khalil (1996), Popov (1973), and Slotine and Li (1991) for
fractional integrals. On the other hand, Aguila-Camacho
and Duarte-Mermoud (2016), using the second version
of Barbalat lemma (Tao, 1997), proved the convergence
in mean value to zero of the solution and not the conver-
gence towards zero of the solution.
In this work, the invalidity of Barbalat-like lemma
(case Khalil, 1996; Popov, 1973; Slotine & Li, 1991) for
conformable fractional integrals is described and proved
through an illustrative counter example. For the second
version of Barbalat lemma given in Tao (1997), we show
and prove that there exists an analogue of such version for
conformable fractional integrals.
2. Preliminaries
In this section, we recall some definitions, notations and
traditional results.
Definition 2.1: Given a function f defined on [a, )
then, the conformable fractional derivative starting from
a of a function f of order α is defined by
 
f t + ε(t − a)1−α − f (t )
Taα f (t ) = lim , (1)
ε→0 ε In this section, fundamental results related to the appli-
for all t > a, α  (0, 1). If Taα f (t ) exists t  (a, b) for
some b > a and lim+ Taα f (t ) exists, then by definition
t−→a
Taα f (a) = lim+ Taα f (t ).
t−→a
If f is differentiable on (a, ) then
Taα f (t ) = (t − a)1−α f  (t ), ∀ t > a.
In addition, if the conformable fractional derivative of
f of order α exists on (a, ) , then we say that f is α-
differentiable on (a, ).
Lemma 2.1 (Eslami & Rezazadeh, 2015): Let α  (0, 1),
c1 , c2 , r, λ ∈ R and the functions f, g : [a, +∞) −→ R be
α-differentiable on (a, ). Then
r Taα (c1 f + c2 g) = c1 Taα f + c2 Taα g;
r Taα (t − a)r = r(t − a)r−α ;
r Taα λ = 0;
r
Taα ( f g) = f Taα g + gTaα f ;
α α
r T α ( f )(t ) = g(t )Ta f (t ) − f (t )Ta g(t ) ,
a
g g2 (t )
for every t > a such that g(t)  0.
Definition 2.2: Let α  (0, 1). The conformable frac-
tional integral starting from a of a function f of order α
is defined by
 t
Iaα f (t ) = (s − a)α−1 f (s)ds. (2)
a
Lemma 2.2: Given a function f defined on an [a, ).
Assume that f is differentiable for t > a and 0 < α < 1,
then for all t > a we have
Iaα Taα f (t ) = f (t ) − f (a).
By the help of the fractional mean value theorem
proved in Abdeljawad (2015), we get the following prop-
erty.
Lemma 2.3: Let f : [a, ∞) → R be α-differentiable on
an interval (a, ), if Taα f (t ) ≥ 0 (respectively Taα f (t ) ≤
0), for all t  (a, ), then the graph of f is increasing
(respectively, decreasing).
Remark 2.1: If a = 0, the definition of the conformable
fractional derivatives and integrals above will be reduced
to the result in Khalil et al. (2014).
Seeking simplicity, we note: T α := T0α and I α := I0α .
3. Main results
cability of the Barbalat lemma for conformable fractional
integrals are discussed.
The following counterexample gives the invalidity of
the Barbalat lemma (case Khalil, 1996; Popov, 1973;
Slotine & Li, 1991) for conformable fractional integrals.
 INTERNATIONAL JOURNAL OF CONTROL 3

Example 3.1: We would like to find a function f which is Since the term l−ε (t α − T α ) tends to infinity when t →
α
nonnegative, uniformly continuous, and Iα f is bounded + we obtain a contradiction. 
but f does not converge to zero.
Let P be a function null at every point except the inter- Now, for the case of Barbalat-type lemma proposed
vals [ui , ui + δ] in which it takes the value 1, where δ = 12 in Tao (1997), we prove the following conformable ana-
and ui = iγ , with γ = 1−α 2
. logue.
We have, Theorem 3.1: Let f : R+ −→ R p be a function differen-
tiable on R∗+ .
+∞ 
 ui +δ
α If there exists some α  (0, 1), such that
I P(t ) ≤ sα−1 ds < ∞.
i=0 ui
 +∞
sα−1 f (s) γ ds < ∞, where γ > 0, (4)
Now, let 0

⎧
⎨ t − ui , if t ∈ [ui , ui + 2δ ] and Tα f is a bounded function, then,
f (t ) = ui + δ − t, if t ∈ [ui + 2δ , ui + δ]
⎩
0, if not lim f (t ) = 0.
t−→+∞

We have f  P, then Iα f is bounded. Proof: Since Tα f is a bounded function. Thus, there exists
Hence, f is nonnegative, uniformly continuous func- M > 0 such that s1 − α f (s)  M, s > 0.
tion and Iα f is bounded but f does not converge to zero. Suppose that, limt−→+∞ f (t ) = 0. So, there exists a
sequence tn −→ +∞ such that f(tn )  δ,∀n ∈ N∗ , for
Example 3.1 shows that there is no analogue of such
some δ > 0. Without loss of generality, we may assume
Barbalat lemma for conformable fractional integrals.
that t1α > 2M(2δαα −1) and tn+1 > 2tn , ∀n ∈ N∗ , by replacing
We introduce another result related to the same Bar-
(tn )n∈N∗ by a suitable subsequence.
balat lemma (case Khalil, 1996; Popov, 1973; Slotine & Li, δα α1
For each n ∈ N∗ , one chooses sn = [tnα + 2M ] . Then,
1991) for conformable fractional integrals. We have the
following result.
δα 1
Proposition 3.1: Let f : R+ −→ R p be a bounded func- tn ≤ sn = [tnα + ] α ≤ 2tn < tn+1 , ∀n ∈ N∗ .
2M
tion such that
 By the generalised mean-value theorem,
+∞
α−1
s f (s) ds < ∞,
0 f (t ) − f (tn ) ≤ M(sn − tn )tnα−1 , ∀t ∈ [tn , sn ].

then, We have

lim inf f (t ) = 0.
1
α δα α
− (tnα ) α
1
t→+∞
s n − tn = t n +
2M
Proof: f is bounded, then lim inf f (t ) exists. Let  tnα +δ  α 
t→+∞ 1
 1 tn +δ 1 −1 δ  s1−α
= [s ] ds ≤
α s α ds ≤ n ,
tnα α tnα α
l = lim inf f (t ) ≥ 0. (5)
t→+∞

Suppose that l  0, then there exist ε > 0 and T > 0 such δα

where δ  = .
that f(t)  l − ε > 0, for all t  T. 2M
Furthermore,
Therefore, for t  T,
  1−α   1−α
+∞ δ sn δ δ α
sα−1 f (s) ds (sn − tn )tnα−1 ≤ ≤ 1+ α (6)
α tn α tn
0
 T  t
≥ sα−1 f (s) ds + sα−1 f (s) ds and
0 T
 T
l −ε α δ δ  1−α δ
≥ sα−1 f (s) ds + (t − T α ). (3) lim (1 + α ) α = . (7)
0 α n−→+∞ α tn 2M
4 A. SOUAHI ET AL.

By (5)–(7), there exists n0 ∈ N∗ , such that This implies that

2δ [e2 (t ) + y2 (t )] ≤ [e2 (0) + y2 (0)].

(sn − tn )tnα−1 ≤ , ∀ n ≥ n0 . (9)
3M
For n  n0 , we then have Hence, e(t) and y(t) are bounded t  0.
We have
f (t ) ≥ f (tn ) − f (t ) − f (tn )
δ 2e2 (t ) ≤ −T β V (t ). (10)
≥ δ − M(sn − tn )tnα−1 ≥ , ∀ t ∈ [tn , sn ].
3
Hence,
Taking into account (4), by Cauchy condition, we have
 sn
I β e2 (t ) ≤ [V (0) − V (t )]. (11)
α−1 γ
lim s f (s) ds = 0.
n−→+∞ t
n It follows that,
In addition, by the integral mean-value theorem, we have  +∞
for n  n0 sβ−1 e2 (s)ds < ∞.
0
 sn  sn
α−1 γ γ
s f (s) ds = f (τn ) sα−1 ds Since w(t) is bounded, then by Theorem 3.1, e(t) con-
tn tn
δ  γ sα − t α δ γ δ  verges to zero as t −→ +∞.
≥ n n
= > 0, For simulation reasons, we choose w(t ) = t 2 +1 1
,β=
3 α 3 α 0.5 and the initial conditions are defined as follows: e(0) =
where τ n  [tn , sn ], which is a contradiction. Hence, 1 and y(0) = 1. We can see that e(t) converges to zero as
t −→ +∞ and y(t) is bounded t  0, see Figure 1 .
lim f (t ) = 0. Example 4.2: We consider the conformable fractional-
t−→+∞
 order control system:
It is clear from Theorem 3.1 that there exists a straight-
forward extension for the Barbalat lemma given in Tao T β X (t ) = AX (t ) + kbyT (t )u(t )
(1997). T β y(t ) = −γ sgn(k)X T (t )Pbu(t ), β ∈ (0, 1), (12)

where A ∈ Rn×n is Hurwitz (asymptotically stable

4. Applications
In this section, we give two examples to illustrate the
applicability of the proposed results.
Example 4.1: Consider the following system:
T β e(t ) = −e(t ) + y(t )w(t )
T β y(t ) = −ew(t ), β ∈ (0, 1),
where w is a bounded continuous function, e, y : R+ −→
R are continuous on R+ and differentiable on R∗+ .
We will prove that the component e(t) of the system (8)
converges to zero as t −→ +∞ and the component y(t)
is bounded t  0.
Consider the Lyapunov function
matrix), b ∈ Rn , y : R+ −→ Rm , X : R+ −→ Rn
are continuous on R+ and differentiable on R∗+ ,
u : R+ −→ Rm is assumed to be bounded, k ∈ R is
an unknown constant, but its sign is known, P ∈ Rn×n
is a symmetric positive definite matrix satisfying AT P +
PA = −Q < 0 and γ ∈ R∗+ .
Let us consider the conformable fractional differential
(8)
equation (12), then
r y(t), X(t) are bounded t  0.
r X(t) converges to zero as t −→ +∞.
Indeed, we have

|k|
T β X (t )T PX (t ) + y(t )T y(t )
V (e, y) = e2 + y2 . γ
|k|
Its β derivative is = 2X (t )T PT β X (t ) + 2 y(t )T T β y(t )
γ
 
  = 2X (t ) P AX (t ) + kby(t )T u(t )
T
T β V (t ) = 2e(t ) − e(t ) + y(t )w(t ) + 2y(t )(−ew(t ))
|k|  
= −2e2 (t ) ≤ 0. + 2 y(t )T − γ sgn(k)X T (t )Pbu(t )
γ
 INTERNATIONAL JOURNAL OF CONTROL 5

0.8
e y

0.6

0.4
Solutions

0.2

−0.2

−0.4
0 5 10 15
Time (s)

Figure . Time evolution of the state e and y.

 
= X (t )T AT P + PA X (t ) It follows that,
= −X (t ) QX (t ) T
 +∞
= −λmin (Q) X (t ) . 2
(13) sβ−1 X (s) 2 ds < ∞.
0

By (13), we have Since u(t) is bounded, then by Theorem 3.1, X(t) con-

verges to zero as t −→ +∞.
|k|
T β X (t )T PX (t ) + y(t )T y(t ) ≤ 0. For this example, we choose
γ
 
Thus, we obtain −5 1
A= ,

0 −5
|k|  
X (t )T PX (t ) + y(t )T y(t ) 2
γ b= ,

1
|k|
≤ X (0)T PX (0) + y(0)T y(0) . (14)
γ u(t) = e−t , k = 2, γ = 1 and β = 0.5. Using the MATLAB
LMI control toolbox, the matrix P is given by
Hence, X(t) and y(t) are bounded t  0.
By (13), we get  
0.1356 0.0145

P= .
|k| 0.0145 0.1383
β
λmin (Q) X (t ) ≤ −T X (t ) PX (t ) +
T2
y(t ) y(t ) .
T
γ
(15) The initial conditions are defined as follows: X1 (0) = −2,
X2 (0) = 1 and y(0) = 1. The plot of the solutions X(t) =
Hence, (X1 (t), X2 (t)) and y(t) are shown in Figures 2 and 3.
We would like to mention that the case of β = 1 of
 t
this example was already taken and solved in Narendra
λmin (Q) sβ−1 X (s) 2 ds
and Annaswamy (2005). The Caputo fractional derivative
0 case, where β  (0, 1), was presented in Aguila-Camacho
|k|
≤ X (0)T PX (0) + y(0)T y(0) and Duarte-Mermoud (2016). It should be underlined
γ

that in this case, that is: Caputo definition, solutions con-
|k|
− X (t ) PX (t ) − y(t ) y(t ) .
T T
(16) verge in mean value to zero and not towards zero.
γ
6 A. SOUAHI ET AL.

x x
1 2
0.5

0
Solutions (X)

−0.5

−1

−1.5

−2
0 1 2 3 4 5 6 7 8 9 10
Time (s)

Figure . Time evolution of the state X.

1.05

0.95

0.9

0.85
y

0.8

0.75

0.7

0.65
0 5 10 15
Time (s)

Figure . Time evolution of the state y.

As an interesting results presented in this work, the
solutions of such systems, using conformable fractional
integrals, converge directly to zero which is well validated
throughout these examples.
5. Conclusion
Some extensions for the conformable fractional
order case of the well-known Barbalat lemma for the
integer case have been discussed throughout the paper.
For the first case of Barbalat-like lemmas, it was proved
via an illustrative counterexample that there is no
straightforward extension. For the second generalised
Barbalat lemma, an analogue for conformable fractional
integrals is provided. For applications in control theory
(such that adaptive control, adaptive observer and so
on), the second extension of Barbalat lemma fulfills the
required condition and guarantees the convergence of
the solution towards zero. This is an interesting result
since it will be very useful especially for adaptive systems.
 INTERNATIONAL JOURNAL OF CONTROL 7

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