Control Error Convergence Using Lyapunov Direct Method Approach for Mixed Fractional Order Model Reference Adaptive Control

This paper extends Lyapunov stability theory to mixed fractional order direct model reference adaptive control (FO-DMRAC), where the adaptive control parameter is of fractional order, and the control error model is of integer order. The proposed approach can also be applied to other types of model reference adaptive controllers (MRACs), provided the form of the control error dynamics and the fractional order adaptive control law are similar. This paper demonstrates that the control error will converge to zero, even if the derivative of the classical Lyapunov function V˙ is positive during a transient period, as long as V˙(e,ϕ) tends to zero as time approaches infinity. Finally, this paper provides application examples that illustrate both the convergence of the control error to zero and the behavior of V˙(e,ϕ).