title: Model Predictive Control of Fractional Order Systems.
abstract: This paper provides the model predictive control (MPC) of fractional order systems. The direct method will be used as internal model to predict the future dynamic behavior of the process, which is used to achieve the control law. This method is based on the Grünwald-Letnikov's definition that consists of replacing the noninteger derivation operator of the adopted system representation by a discrete approximation. The performances and the efficiency of this approach are illustrated with practical results on a thermal system and compared to the MPC based on the integer ARX model.
authors.affiliation: Université de Tunis El Manar , Ecole Nationale d'Ingénieurs de Tunis, LR11ES20 Laboratoire Analyse, Conception et Commande des Systèmes, Tunis 1002 , Tunisia.
authors.forename: Aymen
authors.initials: A
authors.lastname: Rhouma
authors.affiliation: Université de Tunis El Manar , Ecole Nationale d'Ingénieurs de Tunis, LR11ES20 Laboratoire Analyse, Conception et Commande des Systèmes, Tunis 1002 , Tunisia e-mail:  faouzi.bouani@enit.rnu.tn.
authors.forename: Faouzi
authors.initials: F
authors.lastname: Bouani
authors.affiliation: Université de Tunis El Manar , Ecole Nationale d'Ingénieurs de Tunis, LR11ES20 Laboratoire Analyse, Conception et Commande des Systèmes, Tunis 1002 , Tunisia.
authors.forename: Badreddine
authors.initials: B
authors.lastname: Bouzouita
authors.affiliation: Université de Tunis El Manar , Ecole Nationale d'Ingénieurs de Tunis, LR11ES20 Laboratoire Analyse, Conception et Commande des Systèmes, Tunis 1002 , Tunisia e-mail:  mekki.ksouri@enit.rnu.tn.
authors.forename: Mekki
authors.initials: M
authors.lastname: Ksouri
keywords: Grünwald–Letnikov method; fractional order systems; model predictive control; thermal system