Bąkała, MarcinDuch, PiotrMachado, J. A. TenreiroOstalczyk, PiotrSankowski, Dominik2022-01-132022-01-132020http://hdl.handle.net/10400.22/19460This paper presents integer and linear time-invariant fractional order (FO) models of a closed-loop electric individual-wheel drive implemented on an autonomous platform. Two discrete-time FO models are tested: non-commensurate and commensurate. A classical model described by the second-order linear difference equation is used as the reference. According to the sum of the squared error criterion (SSE), we compare a two-parameter integer order model with four-parameter non-commensurate and three-parameter commensurate FO descriptions. The computer simulation results are compared with the measured velocity of a real autonomous platform powered by a closed-loop electric individual-wheel driveengFractional-order backward-differenceDifference equationIdentificationjournal article10.3390/e22030300