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Lecture Notes in Electrical Engineering 559

Agnieszka B. Malinowska
Dorota Mozyrska
Łukasz Sajewski Editors

Advances in
Non-Integer Order
Calculus and Its
Applications
Proceedings of the 10th International
Conference on Non-Integer Order
Calculus and Its Applications
Lecture Notes in Electrical Engineering

Volume 559

Series Editors
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Agnieszka B. Malinowska•

Dorota Mozyrska Łukasz Sajewski

•

Editors

Advances in Non-Integer
Order Calculus and Its
Applications
Proceedings of the 10th International
Conference on Non-Integer Order Calculus
and Its Applications

123
Editors
Agnieszka B. Malinowska Dorota Mozyrska
Faculty of Computer Science Faculty of Computer Science
Bialystok University of Technology Bialystok University of Technology
Białystok, Poland Białystok, Poland

Łukasz Sajewski
Faculty of Electrical Engineering
Bialystok University of Technology
Białystok, Poland

ISSN 1876-1100 ISSN 1876-1119 (electronic)

Lecture Notes in Electrical Engineering
ISBN 978-3-030-17343-2 ISBN 978-3-030-17344-9 (eBook)
https://doi.org/10.1007/978-3-030-17344-9

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Preface

Non-integer or fractional-order calculus is a generalization of classical one, and it

has a long history. Its origin goes back more than three centuries, to the famous
correspondence between Gottfried Leibnitz and Guillaume L’Hopital in 1695.
However, only in the twentieth century, in June 1974, Bertram Ross organized the
first conference dedicated to fractional calculus and its applications. Nowadays,
fractional calculus is an important mathematical discipline that plays a fundamental
role in the modeling of numerous phenomena in many fields of science and
engineering.
This book is based on the 10th International Conference of Non-integer Order
Calculus and its Applications that was held at the Bialystok University of
Technology, Białystok, Poland, September 20–21, 2018. The conference gathered
researchers from several countries to discuss a very wide spectrum of problems in
science and engineering. There were three plenary lectures, 48 communications and
10 posters on ongoing current research. The conference was a platform for
exchanging recent developments, discoveries and progress on fractional calculus
and its applications in all fundamental sciences and engineering.
This volume includes 22 original research papers that were selected among
works presented at the 10th International Conference of Non-integer Order Calculus
and its Applications. Each one of these papers has been carefully scrutinized,
having passed the standard refereeing process. We would like to take this oppor-
tunity to thank again all the contributors and reviewers.
The post-conference monograph consists of four parts:
1. Mathematical Foundations,
2. Approximation, Modeling and Simulations,
3. Fractional Systems Analysis and Control,
4. Applications.
Fractional-order calculus is a very active and promising area of research. We
hope that this post-conference monograph will motivate and encourage readers to
follow the research activity in the subject. Maybe some of them will take part in the
exploration of the theory and applications of non-integer order calculus.

v
vi Preface

The editors are grateful to all members of the Scientific Committee, the
Organizing Committees and the Supporting Team. They deeply thank all attendees
to the 10th International Conference of Non-integer Order Calculus and its
Applications for their participation and inspiring lectures.

February 2019 Agnieszka B. Malinowska

Dorota Mozyrska
Łukasz Sajewski
Organization

The 10th International Conference of Non-integer Order Calculus and its

Applications was organized by the Białystok Branch of the Polish Mathematical
Society in cooperation with the Faculty of Computer Science and the Faculty of
Electrical Engineering of the Bialystok University of Technology.

Scientific Committee
Chair

Tadeusz Kaczorek Bialystok University of Technology, Poland

Co-chair

Jerzy Klamka Silesian University of Technology, Poland

Members

Ricardo Almeida University of Aveiro, Portugal

Teodor M. Atanackovic University of Novi Sad, Serbia
Ferhan Atici Western Kentucky University, USA
Dumitru Baleanu Cankaya University, Turkey
Jerzy Baranowski AGH University of Science and Technology,
Poland
Adam Czornik Silesian University of Technology, Poland
Stefan Domek West Pomeranian University of Technology,
Poland
Andrzej Dzieliński Warsaw University of Technology, Poland
Virginia Kiryakova Bulgarian Academy of Sciences, Bulgaria
Jaroslav Koton Brno University of Technology, Czech Republic

vii
viii Organization

Małgorzata Klimek Czestochowa University of Technology, Poland

Krzysztof J. Latawiec Opole University of Technology, Poland
Tenreiro Machado Polytechnic Institute of Porto, Portugal
Wojciech Mitkowski AGH University of Science and Technology,
Poland
Shaher Momani University of Jordan, Jordan
Krzysztof Oprzȩdkiewicz AGH University of Science and Technology,
Poland
Manuel D. Ortigueira New University of Lisbon, Portugal
Piotr Ostalczyk Lodz University of Technology, Poland
Ivo Petras Technical University of Kosice, Slovakia
Igor Podlubny Technical University of Kosice, Slovakia
Dominik Sierociuk Warsaw University of Technology, Poland
Rafał Stanisławski Opole University of Technology, Poland
Delfim F. M. Torres University of Aveiro, Portugal
Juan J. Trujillo University of La Laguna, Spain
Blas Vinagre University of Extremadura, Spain
Guo-Cheng Wu Nanjing University of Finance and Economics,
China

Organizing Committee
Chair

Agnieszka B. Malinowska Bialystok University of Technology, Poland

Co-chair

Dorota Mozyrska Bialystok University of Technology, Poland

Members

Ewa Girejko Bialystok University of Technology, Poland

Tatiana Odzijewicz Warsaw School of Economics, Poland
Ewa Pawluszewicz Bialystok University of Technology, Poland
Łukasz Sajewski Bialystok University of Technology, Poland
Małgorzata Wyrwas Bialystok University of Technology, Poland
Organization ix

Supporting Team

Piotr Oziablo
Małgorzata Wróblewska
Konrad Kozłowski
Krzysztof Kurdzieko
Joanna Panasiuk
Rafał Korziński

Referees

A. Babiarz D. Mozyrska
N. Bastos A. Novak
A. L. Brkić T. Odzijewicz
R. Caponetto K. Oprzȩdkiewicz
K. Dziedzic P. Oziablo
E. Girejko E. Pawluszewicz
S. Hristova Y. Povstenko
W. Jakowluk K. Rogowski
A. Jakubowska-Ciszek Ł. Sajewski
T. Kaczorek D. Sierociuk
A. Koszewnik M. Sowa
K. Kozioł W. Sumelka
M. Macias K. Szajek
W. Malesza A. Trojnar
G. Maione J. Wiora
Ł. Majka M. S. Wiraszka
A. B. Malinowska C. Yeroglu
M. Morgado

Sponsoring Institution

Bialystok University of Technology, Białystok, Poland

Contents

Mathematical Foundations
Extensions of Kharitonov Theorem to Positive Fractional
Linear Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Tadeusz Kaczorek
An Extension of the Fractional Gronwall Inequality . . . . . . . . . . . . . . . 20
Ricardo Almeida, Agnieszka B. Malinowska, and Tatiana Odzijewicz
The Particular Types of Fractional Variable-Order
Symmetric Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Michal Macias

Approximation, Modeling and Simulations

Realization of the Fractional Variable-Order Model
with Symmetric Property . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Michal Macias, Dominik Sierociuk, and Wiktor Malesza
Using Fractional Calculus in an Attempt at Modeling a High
Frequency AC Exciter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Łukasz Majka
Numerical Simulations for Fitting Parameters of Linear
and Logistic-Type Fractional-, Variable-Order
Equations - Comparision of Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Piotr Oziablo
Selected Implementation Issues in Computation
of the Grünwald-Letnikov Fractional-Order Difference
by Means of Embedded System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Kamil Kozioł and Rafał Stanisławski

xi
xii Contents

Fractional Systems Analysis and Control

Complex Dynamics in Basic Two-Component Auto-Oscillation
Systems with Fractional Derivatives of Different Orders . . . . . . . . . . . . 99
Bohdan Datsko
Switched Fractional State-Space Predictive Control Methods
for Non-Linear Fractional Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Stefan Domek
Design of an Optimal Input Signal for Parameter Estimation
of Linear Fractional-Order Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Wiktor Jakowluk
Non-Integer Order Control of PMSM Drives with Two Nested
Feedback Loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Paolo Lino and Guido Maione
Fractional Cucker-Smale Type Models with the Caputo
Variable-Order Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Ewa Girejko, Dorota Mozyrska, and Małgorzata Wyrwas
Exponential Stability for a Class of Fractional Order
Dynamic Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Krzysztof Oprzędkiewicz and Wojciech Mitkowski
Aspects of the Finite Step Observability of Fractional Order
Discrete-Time Polynomial Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Ewa Pawluszewicz
Stability Analysis for a Class of Fractional Discrete-Time Linear
Scalar Systems with Multiple Delays in State . . . . . . . . . . . . . . . . . . . . . 201
Andrzej Ruszewski
Inaccuracies Revealed During the Analysis of Propagation
of Measurement Uncertainty Through a Closed-Loop
Fractional-Order Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Józef Wiora and Alicja Wiora

Applications
A Nonlocal Image Inpainting Problem Using the Linear
Allen–Cahn Equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Antun Lovro Brkić and Andrej Novak
PSO Identification for Discrete Fractional Order Model of Heat
Transfer Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Krzysztof Oprzędkiewicz and Klaudia Dziedzic
Contents xiii

Frequency Method for Determining the Equivalent Parameters

of Fractional-Order Elements Lb Ca . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Agnieszka Jakubowska-Ciszek and Janusz Walczak
Time-Fractional Heat Conduction with Heat Absorption
in a Half-Line Domain Due to Boundary Value of the Heat Flux
Varying Harmonically in Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Yuriy Povstenko and Tamara Kyrylych
Complexity of an Identification Problem of Sharp Local Density
Loss in Fractional Body . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Krzysztof Szajek and Wojciech Sumelka
Switching Energy Loss in Fractional-Order Time-Varying Heat
Diffusion Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
Michał Sławomir Wiraszka and Piotr Sakrajda
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Mathematical Foundations
 Extensions of Kharitonov Theorem
to Positive Fractional Linear Systems

Tadeusz Kaczorek(B)

Faculty of Electrical Engineering, Bialystok University of Technology,

Wiejska 45D, 15-351 Bialystok, Poland
kaczorek@ee.pw.edu.pl

Abstract. The asymptotic stability of interval positive continuous-time

linear systems of integer and fractional orders is investigated. The classi-
cal Kharitonov theorem is extended to the interval positive continuous-
time linear systems of integer and fractional orders. It is shown that:
(1) The interval positive linear system is asymptotically stable if and
only if the matrices bounding the state matrix are Hurwitz Metzler.
(2) The interval positive fractional system is asymptotically stable if and
only if bounding the state matrix are Hurwitz Metzler.
(3) The interval positive of integer and fractional orders continuous-time
linear systems with interval characteristic polynomials are asymptot-
ically stable if and only if their lower bounds of the coefficients are
positive.
It is shown that the interval positive fractional discrete-time linear sys-
tems are asymptotically stable if and only if the lower and upper bounds
of the state matrices are asymptotically stable. The classical Kharitonov
theorem is extended to the discrete-time interval positive fractional linear
systems.

Keywords: Interval · Positive · Fractional · Linear ·

Continuous-time · Discrete-time · System · Stability

1 Introduction
A dynamical system is called positive if its state variables take nonnegative
values for all nonnegative inputs and nonnegative initial conditions. The positive
linear systems have been investigated in [1,5,11] and positive nonlinear systems
in [6,7,9,17,18]. Examples of positive systems are industrial processes involving
chemical reactors, heat exchangers and distillation columns, storage systems,
compartmental systems, water and atmospheric pollution models. A variety of
models having positive linear behavior can be found in engineering, management
science, economics, social sciences, biology and medicine, etc.
Mathematical fundamentals of the fractional calculus are given in the mono-
graphs [23–27]. Fractional dynamical linear and nonlinear systems have been
investigated in [6,8,10,13,15,18,28–33].
c Springer Nature Switzerland AG 2020
A. B. Malinowska et al. (Eds.): RRNR 2018, LNEE 559, pp. 3–19, 2020.
https://doi.org/10.1007/978-3-030-17344-9_1
4 T. Kaczorek

Positive linear systems with different fractional orders have been addressed
in [3,12,14,21,30]. Descriptor (singular) linear systems have been analyzed in
[9,15,16] and the stability of a class of nonlinear fractional-order systems in
[6,18]. Application of Drazin inverse to analysis of descriptor fractional discrete-
time linear systems has been presented in [8]. Comparison of three method of
analysis of the descriptor fractional systems has been presented in [29]. Stabil-
ity of linear fractional order systems with delays has been analyzed in [2] and
simple conditions for practical stability of positive fractional systems have been
proposed in [4]. The stability of interval positive continuous-time linear systems
has been addressed in [20].
In this paper the asymptotic stability of interval positive fractional
continuous-time and discrete-time linear systems will be investigated.
The paper is organized as follows. In Sect. 2 some basic definitions and theo-
rems concerning positivity and stability of fractional discrete-time linear systems
are recalled. Stability of the interval positive fractional linear systems is analyzed
in Sect. 3. Convex linear combination of Schur polynomials and the stability of
interval positive fractional discrete-time linear systems is investigated in Sect. 4.
Concluding remarks are given in Sect. 5.
The following notations will be used:  - the set of real numbers, n×m
- the set of n × m real matrices, n×m + - the set of n × m real matrices with
nonnegative entries and n+ = n×1 + , M n the set of n × n Metzler matrices (real
-
matrices with nonnegative off-diagonal entries), In - the n × n identity matrix,
for A = [aij ] ∈ n×n and B = [bij ] ∈ n×n inequality A ≥ B means aij ≥ bij
for i, j = 1, 2, ..., n.

2 Problem Formulation
Consider the fractional continuous-time linear system
dα x(t)
= Ax(t), 0 < α < 1, (1)
dtα
where x(t) ∈ n , is the state vector and A ∈ n×n . In the paper the following
Caputo definition of the fractional derivative of α order will be used [19]
t
α dα f (t) 1 f˙(τ )
0 Dt f (t) = = dτ , 0 < α < 1, (2)
dtα Γ (1 − α) (t − τ )α
0

∞
where f˙(τ ) = df (τ )
dτ and Γ (x) = tx−1 e−t dt, Re(x) > 0 is the Euler gamma
0
function.
Definition 1. [19] The fractional system (1) is called (internally) positive if
x(t) ∈ n+ , t ≥ 0 for any initial conditions x0 = x(0) ∈ n+ .
Theorem 1. [19] The fractional system (1) is positive if and only if its matrix
A is the Metzler matrix.
 Extensions of Kharitonov Theorem 5

Definition 2. The fractional positive system (1) is called asymptotically stable

if
lim x(t) = 0 f or all x(0) ∈ n+ . (3)
t→∞

Theorem 2. [19] The fractional positive system (1) is asymptotically stable if

and only if the eigenvalues λi , i = 1, ..., n of the matrix A ∈ Mn satisfy the
condition
Reλi < 0, i = 1, ..., n. (4)

Theorem 3. [19] The fractional positive system (1) is asymptotically stable if

and only if one of the equivalent conditions are satisfied:

1. All coefficient of the characteristic polynomial

det[In s − A] = sn + an−1 sn−1 + ... + a1 s + a0 (5)

are positive, i.e. ak > 0 for k = 0, 1, ..., n − 1.

2. All principal minors M̄i , i = 1, ..., n of the matrix −A are positive, i.e.
 
 −a11 −a12 
M̄1 = |−a11 | > 0, M̄2 =    > 0, . . . , M̄n = det[−A] > 0. (6)
−a21 −a22 

3. There exists strictly positive vector λT = [ λ1 · · · λn ]T , λk > 0, k = 1, ..., n

such that
Aλ < 0 or AT λ < 0. (7)

If det A = 0 then we may choose λ = −A−1 c, where c ∈ n is any strictly

positive vector.
Consider the set (family) of the nth-degree polynomials

pn (s) := an sn + an−1 sn−1 + ... + a1 s + a0 (8)

with the interval coefficients

ai ≤ ai ≤ ai , i = 0, 1, ..., n. (9)

Using (8) and (9) we define the following four polynomials:

p1n (s) := a0 + a1 s + a2 s2 + a3 s3 + a4 s4 + a5 s5 + ...

p2n (s) := a0 + a1 s + a2 s2 + a3 s3 + a4 s4 + a5 s5 + ...
(10)
p3n (s) := a0 + a1 s + a2 s2 + a3 s3 + a4 s4 + a5 s5 + ...
p4n (s) := a0 + a1 s + a2 s2 + a3 s3 + a4 s4 + a5 s5 + ...

Theorem 4 (Kharitonov). The set of polynomials (8) is asymptotically stable

if and only if the four polynomials (10) are asymptotically stable.

Proof is given in [22].

6 T. Kaczorek

3 Extension of Kharitonov Theorem to Positive Interval

Linear Systems
Consider the set of positive interval linear continuous-time systems with the
characteristic polynomials

p(s) = pn sn + pn−1 sn−1 + ... + p1 s + p0 (11)

where
0 < pi ≤ pi ≤ pi , i = 0, 1, ..., n. (12)
Theorem 5. The positive interval linear system with the characteristic polyno-
mial (11) is asymptotically stable if and only if the conditions (12) are satisfied.
Proof. By Kharitonov theorem the set of polynomials (11) and (12) is asymp-
totically stable if and only if the polynomials (10) are asymptotically stable.
Note that the coefficients of polynomials (10) are positive if the conditions (12)
are satisfied. Therefore, by Theorem 3 the positive interval linear system with
the characteristic polynomials (11) is asymptotically stable if and only if the
conditions (12) are satisfied.
Example 1. Consider the positive linear system with the characteristic polyno-
mial
p(s) = a3 s3 + a2 s2 a1 s + a0 (13)
with the interval coefficients

0.5 ≤ a3 ≤ 2, 1 ≤ a2 ≤ 3, 0.4 ≤ a1 ≤ 1.5, 0.3 ≤ a0 ≤ 4. (14)

By Theorem 5 the interval positive linear system with (13) and (14) is asymp-
totically stable since the coefficients ak , k = 0, 1, 2, 3 of the polynomial (13) are
positive, i.e. the lower and upper bounds are positive.
Consider the interval positive linear continuous-time system

ẋ = Ax (15)

where x = x(t) ∈ n is the state vector and the matrix A ∈ Mn is defined by

A1 ≤ A ≤ A2 or equivalently A ∈ [A1 , A2 ]. (16)

Definition 3. The interval positive system (15) is called asymptotically stable

if the system is asymptotically stable for all matrices A ∈ Mn satisfying the
condition (16).
By condition (7) of Theorem 3 the positive system (15) is asymptotically stable if
there exists strictly positive vector λ > 0 such that the condition (7) is satisfied.
For two positive linear systems

ẋ1 = A1 x1 , A1 ∈ Mn (17)
 Extensions of Kharitonov Theorem 7

and
ẋ2 = A2 x2 , A2 ∈ Mn (18)
there exists a strictly positive vector λ ∈ n+ such that
A1 λ < 0 and A2 λ < 0 (19)
if and only if the systems (17) and (18) are asymptotically stable.
Example 2. Consider the positive linear continuous-time systems (17) and (18)
with the matrices
   
−0.6 0.3 −0.6 0.3
A1 = , A2 = . (20)
0.4 −0.4 0.3 −0.4

It is easy to verify that for λT = [0.8 1] we have

    
−0.6 0.3 0.8 −0.18
A1 λ = = < 0,
0.4 −0.4 1 −0.08
     (21)
−0.6 0.3 0.8 −0.18
A2 λ = = < 0.
0.3 −0.4 1 −0.16
Therefore, by the condition (7) of Theorem 3 the positive systems are asymptot-
ically stable.
Theorem 6. If the matrices A1 and A2 of positive systems (17) and (18) are
asymptotically stable then their convex linear combination
A = (1 − k)A1 + kA2 f or 0≤k≤1 (22)
is also asymptotically stable.
Proof. By condition (7) of Theorem 3 if the positive linear systems (17) and (18)
are asymptotically stable then there exists strictly positive vector λ ∈ n+ such
that
A1 λ < 0 and A2 λ < 0 (23)
Using (22) and (23) we obtain
Aλ = [(1 − k)A1 + kA2 ]λ = (1 − k)A1 λ + kA2 λ < 0 (24)
for 0 ≤ k ≤ 1. Therefore, if the positive linear systems (17) and (18) are
asymptotically stable and (23) holds then their convex linear combination is
also asymptotically stable.
Theorem 7. The interval positive systems (15) are asymptotically stable if and
only if the positive linear systems (17) and (18) are asymptotically stable.
Proof. By condition (7) of Theorem 3 if the matrices A1 ∈ Mn , A2 ∈ Mn are
asymptotically stable then there exists a strictly positive vector λ ∈ n+ such that
(23) holds. The convex linear combination (22) satisfies the condition Aλ < 0
if and only if (23) holds. Therefore, the interval system (15) is asymptotically
stable if and only if the positive linear system is asymptotically stable.
8 T. Kaczorek

Example 3. Consider the interval positive linear continuous-time systems (15)

with the matrices
   
−2 1 −3 2
A1 = , A2 = . (25)
2 −3 4 −4

Using the condition (7) of Theorem 3 we choose for A1 (given by (25)) λ1 =

[1 1]T and we obtain
    
−2 1 1 −1
A1 λ = = <0 (26)
2 −3 1 −1

and for A2 , λ2 = [0.8 1]T

    
−3 2 0.8 −0.4
A2 λ = = < 0. (27)
4 −4 1 −0.8

Therefore, the matrices (25) are Hurwitz.

Note that     
−2 1 0.8 −0.6
A1 λ = = < 0. (28)
2 −3 1 −1.4
Therefore, for both matrices (25) we may choose λ = λ1 = λ2 = [0.8 1]T and by
Theorem 7 the interval positive system (15) with (25) is asymptotically stable.

4 Fractional Interval Positive Linear Continuous-Time

Systems
Consider the interval positive linear continuous-time system

dα x(t)
= Ax(t), x(0) ∈ n+ (29)
dtα
where x = x(t) ∈ n is the state vector and the matrix A ∈ Mn is defined by

A1 ≤ A ≤ A2 or equivalently A ∈ [A1 , A2 ]. (30)

Definition 4. The interval positive system (29) and (30) is called asymptoti-
cally stable if the system is asymptotically stable for all matrices A ∈ Mn belong-
ing to the interval [A1 , A2 ].
By Theorem 3 the fractional positive system (29) and (30) is asymptotically
stable if there exists strictly positive vector λ > 0 such that the condition (7) is
satisfied. For two fractional positive linear systems
dα x1
= A1 x1 , A1 ∈ Mn (31)
dtα
 Extensions of Kharitonov Theorem 9

and
dα x2
= A2 x2 , A2 ∈ Mn (32)
dtα
there exists a strictly positive vector λ ∈ n+ such that

A1 λ < 0 and A2 λ < 0 (33)

if and only if the systems (31) and (32) are asymptotically stable.
Example 4. Consider the fractional positive linear continuous-time systems (29)
and (30) with the matrices
   
−3 1 −5 2
A1 = , A2 = . (34)
2 −4 5 −5

It is easy to check that for λT = [0.8 1] we have

    
−3 1 0.8 −1.4
A1 λ = = < 0,
2 −4 1 −2.4
     (35)
−5 2 0.8 −2
A2 λ = = < 0.
5 −5 1 −1

Therefore, by Theorem 3 the fractional positive systems are asymptotically

stable.

Definition 5. The matrix

A = (1 − k)A1 + kA2 , 0 ≤ k ≤ 1, A1 ∈ n×n , A2 ∈ n×n (36)

is called the convex linear combination of the matrices A1 and A2 .

Theorem 8. The convex linear combination (36) is asymptotically stable if and

only if the matrices A1 ∈ Mn and A2 ∈ Mn of interval fractional positive systems
(29) and (30) are asymptotically stable (Hurwitz).

Proof. By Theorem 3 the positive fractional linear systems (31) and (32) are
asymptotically stable if and only if there exists strictly positive vector λ ∈ n+
such that (33) holds. Using (36) and (33) we obtain

Aλ = [(1 − k)A1 + kA2 ]λ = (1 − k)A1 λ + kA2 λ < 0 (37)

for 0 ≤ k ≤ 1, since (33) holds. Therefore, if the matrices Ak ∈ Mn , k =1,2

of the interval fractional positive system (29) and (30) are Hurwitz then their
convex linear combination (36) is also Hurwitz.

Theorem 9. The interval fractional positive system (29) and (30) is asymptot-
ically stable if and only if the positive fractional linear systems (31) and (32) are
asymptotically stable.
10 T. Kaczorek

Proof. By Theorem 8 the convex linear combination (36) is asymptotically stable

if and only if the positive fractional linear systems (31) and (32) are asymptoti-
cally stable. Therefore, the interval fractional positive systems (29) and (30) are
asymptotically stable if and only if the systems (31) and (32) are asymptotically
stable.

Example 5. (Continuation of Example 4) Consider the interval fractional posi-

tive linear continuous-time systems (29) and (30) with the matrices (34). The
interval fractional positive system (29) and (30) with (34) are asymptotically
stable since for λ = λ1 = λ2 = [0.8 1]T (35) holds.

5 Polynomials with Interval Coefficients of Fractional

Positive Linear systems
Consider the fractional positive continuous-time linear system (29) and (30) with
the interval polynomial

pn (s) := an sn + an−1 sn−1 + ... + a1 s + a0 (38)

with the interval coefficients

ai ≤ ai ≤ ai , i = 0, 1, ..., n. (39)

Definition 6. The polynomial

p(s) := (1 − k)p1 (s) + kp2 (s) for k ∈ [0, 1] (40)

is called convex linear combination of the polynomials

p1 (s) = sn + an−1 sn−1 + ... + a1 s + a0 ,

(41)
p2 (s) = sn + bn−1 sn−1 + ... + b1 s + b0 .

Theorem 10. The convex linear combination (40) of the Hurwitz polynomials
(41) of the fractional positive linear system is also a Hurwitz polynomial.

Proof. By Theorem 5 the polynomials (41) are Hurwitz if and only if

ai > 0 and bi > 0 f or i = 0, 1, ..., n − 1. (42)

The convex linear combination (40) of the Hurwitz polynomials (41) is a Hurwitz
polynomial if and only if

(1 − k)ai + kbi > 0 f or k ∈ [0, 1] and i = 0, 1, ..., n − 1. (43)

Note that the conditions (42) are always satisfied if (43) holds. Therefore, the
convex linear combination (40) of the Hurwitz polynomials (41) of the fractional
positive linear system is always the Hurwitz polynomial.
 Extensions of Kharitonov Theorem 11

Example 6. Consider the following Hurwitz polynomials

p1 (s) = 2s2 + 3s + 4, p2 (s) = 3s2 + 4s + 5. (44)

The convex linear combination (40) of the polynomials (44)

(1 − k)p1 (s) + kp2 (s) = (1 − k)(2s2 + 3s + 4)

(45)
+k(3s2 + 4s + 5) = (2 + k)s2 + (3 + k)s + 4 + k

for k ∈ [0, 1] is also Hurwitz polynomial since all coefficients of the polynomial
(45) are positive for k ∈ [0, 1].

The above considerations for two polynomials (41) can be extended to two poly-
nomials of different orders.

6 Fractional Discrete-Time Linear System

Consider the autonomous fractional discrete-time linear system

Δα xi+1 = Axi , 0 < α < 1, i ∈ Z+ , (46)

where

i
Δα xi = cj xi−j , (47)
j=0
 
j α α 1 for j = 0
cj = (−1) , = α(α−1)...(α−j+1) (48)
j j j! for j = 1, 2, ...

is the fractional α-order difference of xi and xi ∈ n is the state vector and

A ∈ n×n . Substitution of (47) and (48) into (46) yields


i+1
xi+1 = Aα xi − cj xi−j+1 , i ∈ Z+ , (49)
j=2

where
Aα = A + In α. (50)

Lemma 1. If 0 < α < 1 then

− cj > 0 f or j = 1, 2, ... (51)

∞

cj = −1. (52)
j=1

Proof is given in [19].

12 T. Kaczorek

Definition 7. [19] The fractional system (46) is called (internally) positive if

xi ∈ n+ , i ∈ Z+ for any initial conditions x0 ∈ n+ .
Theorem 11. The fractional system (46) is positive if and only if

Aα ∈ n+ . (53)

Proof is given in [19].

Definition 8. The fractional positive system (46) is called asymptotically stable
if
lim xi = 0 f or all x0 ∈ n+ . (54)
i→∞

Theorem 12. [19] The fractional positive system (46) is asymptotically stable
if and only if one of the equivalent conditions is satisfied:
1. All coefficient of the characteristic polynomial

pA (z) = det[In (z + 1) − A] = z n + an−1 z n−1 + ... + a1 z + a0 (55)

are positive, i.e. ak > 0 for k = 0, 1, ..., n − 1.

2. All principal minors of the matrix
⎡ ⎤
ā11 ... ā1n
⎢ .. .. ⎥
Ā = In − A = ⎣ . ... . ⎦ (56)
ān1 ... ānn

are positive, i.e.

 
 ā11 ā12 
|a11 | > 0,  
 ā21 ā22  > 0, ..., det Ā > 0. (57)

3. There exists strictly positive vector λT = [ λ1 · · · λn ]T , λk > 0, k = 1, ..., n

such that
[A − In ]λ < 0. (58)
Proof is given in [19].
Theorem 13. The fractional positive system (46) with (47) is asymptotically
stable if and only if there exists a strictly positive vector λ > 0 such that

Aλ < 0. (59)

Proof. Note that the positive fractional system (49) and (50) can be considered
as a positive linear system with increasing to infinity numbers of delays. It is
well-known [19] that the stability of positive discrete-time linear systems depends
only on the sum of state matrices
∞

 = Aα − cj In , (60)
j=2
 Extensions of Kharitonov Theorem 13

From (52) we have

∞

− cj = 1 − α. (61)
j=2

Substituting (61) into (60) we obtain

 = Aα + (1 − α)In = A + In , (62)

since Aα = A + In α. Applying the condition (58) to (62) we obtain (59).

Example 7. Consider the fractional discrete-time system (46) for α = 0.6 with
the matrix  
−0.4 0.2
A= . (63)
0.3 −0.5
The fractional system is positive since the matrix
 
0.2 0.2
Aα = A + I2 α = ∈ 2×2
+ (64)
0.3 0.1

has positive entries.

The positive fractional system is asymptotically stable since for λT = [ 1 1 ]
we have     
−0.4 0.2 1 −0.2
A1 λ = = <0 (65)
0.3 −0.5 1 −0.2
and the condition (59) is satisfied.

7 Fractional Interval Positive Linear Discrete-Time

Systems
Consider the interval fractional positive discrete-time linear system (46) with
the interval matrix A ∈ n×n
+ defined by

A1 ≤ A ≤ A2 or equivalently A ∈ [A1 , A2 ]. (66)

Definition 9. The interval fractional positive system with (66) is called asymp-
totically stable if the system is asymptotically stable for all matrices A ∈ n×n
+
belonging to the interval [A1 , A2 ].

Definition 10. The matrix

A = (1 − k)A1 + kA2 , 0 ≤ k ≤ 1, A1 ∈ n×n , A2 ∈ n×n (67)

is called the convex linear combination of the matrices A1 and A2 .

Theorem 14. The convex linear combination (67) is asymptotically stable if

the matrices A1 ∈ n×n and A2 ∈ n×n are asymptotically stable.
14 T. Kaczorek

Proof. If the matrices A1 ∈ n×n and A2 ∈ n×n are asymptotically stable then
by condition (59) of Theorem 13 there exists strictly positive vector λ ∈ n+ such
that
Al λ < 0 f or l = 1, 2. (68)
In this case using (67) and (68) we obtain

Aλ = [(1 − k)A1 + kA2 ]λ = (1 − k)A1 λ + kA2 λ < 0 f or 0 ≤ k ≤ 1. (69)

Therefore, if the matrices Al , l = 1, 2 are asymptotically stable then the convex

linear combination (67) is also asymptotically stable.

Theorem 15. The interval fractional positive system (46) with (66) is asymp-
totically stable if and only if the matrices A1 ∈ n×n and A2 ∈ n×n are Schur
matrices.

Proof. By condition (59) of Theorem 13 the matrices A1 ∈ n×n and A2 ∈ n×n

are Schur matrices if and only if there exists strictly positive vector λ ∈ n+
such that (68) holds. The convex linear combination (67) satisfies the condition
Aλ < 0 if and only if (68) holds. Therefore, the interval fractional positive
systems (46) with (66) is asymptotically stable if and only if A1 ∈ n×n and
A2 ∈ n×n are Schur matrices.

Example 8. Consider the interval fractional positive linear systems (46) with the
matrices    
−0.3 0.1 −0.5 0.3
A1 = , A2 = . (70)
0.05 −0.4 0.2 −0.6
It is easy to check that for λT = [1 1] we have
    
−0.3 0.1 1 −0.2
A1 λ = = < 0,
0.05 −0.4 1 −0.35
     (71)
−0.5 0.3 1 −0.2
A2 λ = = < 0.
0.2 −0.6 1 −0.4

Therefore, by Theorem 14 the interval fractional positive system (46) with (66)
is asymptotically stable.

8 Convex Linear Combination of Schur Polynomials and

Stability of Interval Fractional Positive Linear Systems
Definition 11. The polynomial

p(z) = bn z n + bn−1 z n−1 + ... + b1 z + b0 (72)

is called Schur polynomial if its zeros zl , l = 1, ..., n satisfy the condition

|zl | < 1 f or l = 1, ..., n. (73)

 Extensions of Kharitonov Theorem 15

Definition 12. The polynomial

p(z) = (1 − k)p1 (z) + kp2 (z) for k ∈ [0, 1] (74)
is called convex linear combination of the polynomials
pi (z) = bi,n z n + bi,n−1 z n−1 + ... + bi,1 z + bi,0 , i = 1, 2. (75)
Theorem 16. The convex linear combination of the Hurwitz polynomials is also
a Hurwitz polynomial.
Proof is given in [20]. For positive linear systems we have the following relation-
ship between Hurwitz and Schur polynomials.
Theorem 17. The polynomial
p(s) = an sn + an−1 sn−1 + ... + a1 s + a0 (76)
is Hurwitz and the polynomial
p(z) = bn z n + bn−1 z n−1 + ... + b1 z + b0 (77)
is Schur polynomial if and only if their coefficients ai and bi i = 0, 1, ..., n are
related by
a0 = b0 + b1 + ... + bn ,
a1 = b1 + 2b2 + ... + nbn ,
.. (78)
.
an−1 = bn−1 + nbn ,
an = bn .
Proof. It is well-known [19] that for positive linear discrete-time and continuous-
time systems the zeros zl , l = 1, ..., n of the polynomial (77) and the zeros
sl , l = 1, ..., n of the polynomial (76) are related by
zl = sl + 1, l = 1, ..., n. (79)
Substituting z = s + 1 into the polynomial (77) we obtain
bn (s + 1)n + bn−1 (s + 1)n−1 + ... + b1 (s + 1) + b0 = an sn + an−1 sn−1 + ... + a1 s + a0
(80)
and it is easy to verify that the coefficients ai and bi i = 0, 1, ..., n are related by
(78). The polynomial (76) is Hurwitz if and only if ai > 0 for i = 0, 1, ..., n and
the polynomial (77) is Schur if and only if bi > 0 for i = 0, 1, ..., n. From (78) it
follows that bi > 0, i = 0, 1, ..., n implies ai > 0 for i = 0, 1, ..., n.
Example 9. The polynomial
p(z) = z 2 + 0.6z + 0.08 (81)
of positive discrete-time linear system is Schur polynomial since its zeros are:
z1 = −0.2, z2 = −0.4. Substituting z = s + 1 into (81) we obtain
p(s) = (s + 1)2 + 0.6(s + 1) + 0.08 = s2 + 2.6s + 1.68 (82)
with the zeros s1 = −1.2, s2 = −1.4. Therefore, the polynomial (82) is Hurwitz.
16 T. Kaczorek

Theorem 18. The interval positive fractional discrete-time linear system with
the characteristic polynomial (77) with interval coefficients bi ≤ bi ≤ bi is asymp-
totically stable if and only if the lower bi , i = 0, 1, ..., n bounds of its coefficients
are positive.

Proof. From (78) it follows that bi > 0, i = 0, 1, ..., n implies ai > 0 for i =
0, 1, ..., n and the characteristic polynomial (76) is Hurwitz. By Theorem 12 the
continuous-time system is asymptotically stable. Similar result we obtain for
the upper bound. Therefore, the interval fractional positive discrete-time system
(77) is asymptotically stable if the lower and upper bound of the coefficients are
positive.

Remark 1. The equalities (78) can be used to compute the lower and upper
bounds of the coefficients ai , i = 0, 1, ..., n of polynomial (76) knowing the lower
and upper bounds of the coefficients bi , i = 0, 1, ..., n of polynomial (77).

Example 10. Consider the characteristic polynomial

p(z) = b2 z 2 + b1 z + b0 (83)

of positive fractional discrete-time systems with the interval coefficients

1 ≤ b2 ≤ 3, 2 ≤ b1 ≤ 3, 1 ≤ b0 ≤ 4. (84)

The equivalent characteristic polynomial of continuous-time system has the form

p(s) = b2 (s + 1)2 + b1 (s + 1) + b0 = a2 s2 + a1 s + a0 (85)

where
a2 = b2 , a1 = b1 + 2b2 , a0 = b0 + b1 + b2 . (86)
Therefore, the interval coefficients of characteristic polynomial of continuous-
time system are
1 ≤ a2 ≤ 3, 4 ≤ a1 ≤ 9, 4 ≤ a0 ≤ 10. (87)
By Theorem 18 the interval positive discrete-time linear system with (83) is
asymptotically stable since the lower bounds (87) are positive.

9 Concluding Remarks
The asymptotic stability of interval positive continuous-time linear systems of
integer and fractional orders has been investigated. The classical Kharitonov
theorem has been extended to the interval positive of integer and fractional
orders continuous-time linear systems. It has been shown:

(1) The interval positive linear systems ẋ = Ax, A ∈ n×n , A ∈ [A1 , A2 ] is

asymptotically stable if and only if the matrices A1 , A2 are Hurwitz Metzler.
(2) The interval positive fractional systems are asymptotically stable if and only
if A1 , A2 are Hurwitz Metzler.
 Extensions of Kharitonov Theorem 17

(3) The interval positive of integer and fractional orders continuous-time linear
systems with interval characteristic polynomials are asymptotically stable if
and only if their lower bounds of the coefficients are positive.

The considerations have been illustrated by numerical examples. The above

considerations can be extended to interval positive fractional discrete-time linear
systems. An open problem is an extension of these considerations to standard
(nonpositive) fractional linear systems.
The asymptotic stability of interval fractional positive linear discrete-time
systems has been investigated. It has been shown that:

(1) The interval fractional positive system (46) with (66) is asymptotically sta-
ble if and only if the matrices Ai , i = 1, 2 are Schur matrices (Theorem 15).
(2) The convex linear combination of the Hurwitz polynomials is also the Hur-
witz polynomial (Theorem 16).
(3) The interval fractional positive system is asymptotically stable if the lower
bounds of coefficients of the polynomial of system are positive (Theorem 18).

The considerations have been illustrated by numerical examples of positive

interval discrete-time systems. An open problem is an extension of the consid-
erations to continuous-time and discrete-time standard (nonpositive) fractional
linear systems.

Acknowledgement. This work was supported by National Science Centre in Poland

under work No. 2017/27/B/ST7/02443.

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