Human control of systems with fractional order dynamics

In this paper, the manipulative control actions of human operators interacting with fractional order plants are studied. Experimental data were recorded from subjects using a joystick or a steering wheel and responding to plants with different fractional dynamics. From the data it is established that human operators can identify and learn to respond to fractional order plants. Moreover, it is proven that the classical Crossover model is not valid to represent man-machine systems with fractional order dynamics. A generalized Fractional Crossover model is proposed for systems with memory effect. The model is validated with experimental data.