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New alternatives for analog implementation of

fractional-order integrators, differentiators
and PID controllers based...

Article in Nonlinear Dynamics · July 2017

DOI: 10.1007/s11071-017-3658-z

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Nonlinear Dyn
DOI 10.1007/s11071-017-3658-z

ORIGINAL PAPER

New alternatives for analog implementation of

fractional-order integrators, differentiators and PID
controllers based on integer-order integrators
Carlos Muñiz-Montero · Luis V. García-Jiménez ·
Luis A. Sánchez-Gaspariano · Carlos Sánchez-López ·
Víctor R. González-Díaz · Esteban Tlelo-Cuautle

Received: 20 April 2016 / Accepted: 5 July 2017

© Springer Science+Business Media B.V. 2017

Abstract In this work, we propose an alternative for
the circuital realization of analog fractional-order dif-
ferentiators and integrators without using ladder net-
works. This alternative is obtained by a mathematical
manipulation of a rational function in a similar way to
the reported for the synthesis of the variable-state fil-
ters. The advantage of the proposed implementation is
the requirement of only simple analog design blocks,
C. Muñiz-Montero · L. V. García-Jiménez
Electronics and Telecommunications Department,
Universidad Politécnica de Puebla, 72640 Cuanalá, Puebla,
Mexico
e-mail: carlos.muniz@uppuebla.edu.mx
L. V. García-Jiménez
e-mail: luis.garcia@uppuebla.edu.mx
L. A. Sánchez-Gaspariano · V. R. González-Díaz
Faculty of Electronics, Benemérita Universidad Autónoma
de Puebla, Jardines de San Manuel, 72592 Puebla, Mexico
e-mail: luis.sanchezgas@correo.buap.mx
V. R. González-Díaz
e-mail: vicrodolfo.gonzales@correo.buap.mx
C. Sánchez-López
Department of Electronics, Universidad Autónoma de
Tlaxcala, 90300 Apizaco, Tlaxcala, Mexico
e-mail: carlsan@ieee.org
E. Tlelo-Cuautle (B)
Department of Electronics, INAOE, Santa María
Tonantzintla, 72840 Puebla, Mexico
e-mail: etlelo@inaoep.mx
E. Tlelo-Cuautle
Computer Department, CINVESTAV, San Pedro Zacatenco,
07360 Mexico City, Mexico
such as integrators (of integer order), differential ampli-
fiers and two-input adder amplifiers. Most important,
contrarily to other reported solutions, the proposed real-
ization can be fulfilled using commercially available
resistors and capacitors, with a reduced number of cal-
culations, and without negative impedance converters
or inductors. In addition, the orders of the fractional
derivative and integral can be modified just varying the
gain of the differential amplifiers and adders. To val-
idate the proposal of implementation, and as example
of application, we present simulations (HSPICE, MAT-
LAB) and experimental results of a first-order plus dead
time plant controlled by fractional-order P I and P I D
controllers. The experimental results were obtained
from a realization using field-programmable analog
arrays. A comparison analysis highlights that the pro-
posed alternative of implementation presents advan-
tages regarding a Cauer-network-based realization in
terms of number of active and passive elements, num-
ber of passive elements with non-commercial available
values and design complexity.
Keywords Fractional calculus · Fractional-order
P I D controllers · Field-programmable analog array
1 Introduction
The fractances are circuit elements which are charac-
terized by a magnitude response with roll-off ±20α
decibels by decade and a constant-phase response at

123

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