Finite-time controllability of fractional-order systems

In this paper the conditions that lead to a system output remaining at zero with zero input are considered It is shown that the initialization of fractional-order integrators plays a key role in determining whether the integrator output will remain at a zero with zero input. Three examples are given that demonstrate the importance of initialization for integrators of order less than unity, inclusive. Two examples give a concrete illustration of the role that initialization plays in keeping the output of a fractional-order integrator at zero once it has been driven to zero. The implications of these results are considered, with special consideration given to the formulation of the fractional-order optimal control problem.