Simulation and experimental tools for fractional order control education

Abstract: The paper presents the simulation toolkit in MATLAB/Simulink R © for the fractional order discrete, state-space system education. The toolkit has been written as a set of C-MEX S-functions which simulate several fractional order blocks e.g. fractional order difference, fractional order discrete state-space representation, fractional order Kalman filter. This way the C code generation capability (using Real Time Workshop) has been provided. This allowed to easily implement the control algorithms in the experimental setup. For analysis of fractional order systems the ultracapacitor has been chosen. It represents the real-life system which is inherently of fractional order. Altogether the simulation toolkit and the experimental testbed form the basis for the advanced fractional order control lab at Institute of Control and Industrial Electronics, Warsaw University of Technology.