Fractional order dynamic inversion controller for non- linear systems

A device , method , and non - transitory computer readable medium for fractional order dynamic inversion control of nonlinear systems under the influence of a disturbance . The method for fractional order dynamic inversion control includes receiving a mathematical model of a controlled device , the mathematical model including a set of movement trajectories , wherein the movement trajectories include control objectives , formulating a first set of linear , time - varying , fractional order differential equations from the mathematical model , the first set including dynamic constraints on the control objectives , transforming the first set into linear equations by differentiating a norm measure function along the movement trajectories , thus generating a second set of fractional order differential equations , and determining a control signal for controlling the movement trajectories in the presence of disturbances by dynamically inverting the second set of fractional order differential equations.