LAUSR

Abstract This paper attempts to lay the theoretical foundations of the efficient employment of actuation systems with fractional order models. A discussion on the superiority of the discrete-time approaches, relative to continuous-time, is held and it is shown that discrete-time approaches demonstrate further compatibility to real world problems. Afterwards, a standard procedure is introduced that enables researchers and engineers to implement such actuation systems in practice. A general case of a nonlinear plant operated via an actuation system represented by Torvik's fractional three parameter model is delineated, analyzed and extensively discussed. The actuation system in discussion emerges frequently in numerous practical engineering problems and can be considered as a paragon of fractional actuation systems. To render the merits of the paper, the actuation system is simulated and it is illustrated that owing to the standard procedure offered in this paper, fractional actuation systems can be implemented both in simulation and practice hereafter to enhance the performance of numerous processes.