Controllability of Linear Fractional Systems with Delay in Control

This paper discusses the controllability of continuous-time linear fractional systems with control delay. The Atangana-Baleanu fractional derivative with the Caputo approach is used. First, the solution expression for a linear fractional system is obtained. Then, the corresponding fractional delay controllability Gramian matrix is defined, and its non-singularity as necessary and sufficient conditions for the controllability is proved. Finally, another equivalent condition based on the matrix rank formed by the coefficients matrices of the original system is provided that is much easier to check.