Chaos in fractional-order autonomous nonlinear systems

We numerically investigate chaotic behavior in autonomous nonlinear models of fractional order. Linear transfer function approximations of the fractional integrator block are calculated for a set of fractional orders in ð0; 1 , based on frequency domain arguments, and the resulting equivalent models are studied. Two chaotic models are considered in this study; an electronic chaotic oscillator, and a mechanical chaotic ‘‘jerk’’ model. In both models, numerical simulations are used to demonstrate that for different types of model nonlinearities, and using the proper control parameters, chaotic attractors are obtained with system orders as low as 2.1. Consequently, we present a conjecture that third-order chaotic nonlinear systems can still produce chaotic behavior with a total system order of 2þ e, 1 > e > 0, using the appropriate control parameters. The effect of fractional order on the chaotic range of the control parameters is studied. It is demonstrated that as the order is decreased, the chaotic range of the control parameter is affected by contraction and translation. Robustness against model order reduction is demonstrated. 2002 Elsevier Science Ltd. All rights reserved.