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Shock and Vibration
Volume 2017, Article ID 2321060, 14 pages
Research Article

Bifurcation Analysis and Chaos Control of a Fractional Order Portal Frame with Nonideal Loading Using Adaptive Sliding Mode Control

Center for Nonlinear Dynamics, Defence University, Bishoftu, Ethiopia

Correspondence should be addressed to Karthikeyan Rajagopal; moc.liamg@nayekeihtrakr

Received 6 March 2017; Revised 11 April 2017; Accepted 3 May 2017; Published 20 July 2017

Academic Editor: Angelo Marcelo Tusset

Copyright © 2017 Karthikeyan Rajagopal et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We investigate the chaotic oscillations in a fractional order model of a portal frame with nonideal loading. The bifurcation of the fractional order portal frame system for parameters and fractional orders are investigated. Bicoherence analysis shows the existence of quadratic nonlinearities. Fractional order adaptive sliding mode controllers are designed to suppress the chaotic oscillations with uncertain parameters. Power efficiency analysis of the FPGA implemented control scheme shows the maximum power utilization in the fractional order showing the largest Lyapunov exponent.