fractal and fractional Article Fractional Definite Integral Manuel Ortigueira 1,2,* and José Machado 3 1 UNINOVA and DEE of Faculdade de Ciências e Tecnologia da UNL, Campus da FCT da UNL, Quinta da Torre, 2829–516 Caparica, Portugal 2 INESC-ID, Rua Alves Redol, 9, 1000–029 Lisboa, Portugal 3 Department of Electrical Engineering, Institute of Engineering, Polytechnic of Porto, R. Dr. António Bernardino de Almeida, 431, 4249–015 Porto, Portugal; [email protected] * Correspondence: [email protected]; Tel.: +351-938610658 Received: 14 June 2017; Accepted: 30 June 2017; Published: 2 July 2017 Abstract: This paper proposes the definition of fractional definite integral and analyses the corresponding fundamental theorem of fractional calculus. In this context, we studied the relevant properties of the fractional derivatives that lead to such a definition. Finally, integrals on R2 and R3 are also proposed. Keywords: fractional integral; fractional derivative; definite fractional integral 1. Introduction Fractional Calculus has evolved considerably during the last 30 years and has become popular in many scientific and technical areas [1–4]. The progress in applications vis-a-vis theoretical developments motivated the re-evaluation of past formulations. The concepts of fractional derivative (FD) and fractional integral (FI) assume various forms not always equivalent and also not compatible with each other. Notwithstanding this development a singular situation exists, since there is no definition of “fractional definite integral” [5,6]. Even more strangely, it seems that no-one has the goal to propose such a adefinition [7,8]. In fact, the term FI is used for an indefinite integral, which, as we will see, stands for a primitivation operation. A review of the literature reveals two indirect attempts to formulate the “fractional generalization of the fundamental theorem of calculus” [9,10]. However, in [9] several formulations of the theorem were described, one for each derivative; the approach followed in [10] was more directed into application but also did not address the definite integral definition. None of those formulations introduced the notion of a definite integral that will be the topic of this paper. Starting from a revision of classic results, an approach based on a generalisation of the Barrow formula is used to propose the “definite fractional integral” and, from it, to formulate the “fractional fundamental theorem of calculus”. These developments allowed the definition of double and triple integrals on rectangular spaces. The paper is organised as follows. In Section2, we introduce the “definite fractional integral” and the corresponding “fractional fundamental theorem of calculus”. For this purpose we study the admissibility of fractional derivatives and we find those that are suitable for achieving the proposed integral. In Section3 the definite integrals on R, R2, and R3 are presented. Finally, in Section4 the conclusions are drawn. Fractal Fract. 2017, 1, 2; doi:10.3390/fractalfract1010002 www.mdpi.com/journal/fractalfract Fractal Fract. 2017, 1, 2 2 of 9 2. The Definite Fractional Integrals 2.1. On the One-Sided Integer Order Derivatives and Their Inverses Let f be a function defined on a closed interval [c, d] 2 R where f is continuous. Then, f is said to have a lefthand derivative at any point of the closed interval if 0 f (x) − f (x − h) fl (x) = Dl f (x) = lim (1) h!0+ h exists as a finite value or ±¥. The righthand derivative is defined similarly by the expression 0 f (x + h) − f (x) fr (x) = Dr f (x) = lim . (2) h!0+ h If both derivatives exist at x = x0 and are equal, then we say that f is differentiable at that point. In the following we work preferably with the left derivative and will omit the subscript “l” unless it is needed to clarify the formulae. Proceeding as in [11] it is possible to obtain an operator, J, that is the inverse of the derivative: b(x−c)/hc J f (x) = lim h f (x − nh), (3) + ∑ h!0 n=0 where b(x − c)/hc is the integer part of (x − c)/h. The summation in (3) is the so-called Riemann sum. Using (1) in (3) and vice-versa it is straightforward to show that JD f (x) = DJ f (x). (4) This means that J is simultaneously the left and right inverse of D. As the derivative of a constant is zero, there are many right inverses, P, of the derivative having − the form P f (x) = D 1 f (x) + C, C 2 R. In fact, DP f (x) = f (x), but PD f (x) = C. These inverses are called primitives of f (x). The particular primitive P = J = D−1 can be called “proper primitive” [12]. Here, it will be named anti-derivative and when needed a subscript will be inserted to indicate that it is a left operator Dl. On the other hand, if we represent J by D−1, the Formulaes (2) and (3) can be joined in one: b(x−c)/hc n (∓)n ∑ (−1) n! f (x − nh) (±1) ±1 n=0 f (x) = D f (x) = lim ± , (5) h!0 h 1 where (a)n = a(a + 1)(a + 2) ··· (a + n − 1), n 2 N, with (a)0 = 1, is the Pochhammer symbol for the rising factorial. In a similar way, the right hand derivative and inverse can be formulated as b(d−x)/hc n (∓1)n ∑ (−1) n! f (x + nh) (±1) ±1 n=0 fr (x) = Dr f (x) = − lim ± . (6) h!0 h 1 This unified formulation opens a new perspective into the generalisation for fractional derivatives. 2.2. Order 1 Integral There are several equivalent definitions of integral of a function in [a, b], a ≥ c, b ≤ d (in particular R b c can be −¥ and d can be +¥), but there is no doubt about the meaning of a f (x)dx and its R b computation. Moreover, a f (x)dx enjoys relevant properties such as follows. Fractal Fract. 2017, 1, 2 3 of 9 Let f (x) as above and F(x) be a function defined, for all x 2 [a, b], by Z x F(x) = f (t)dt. (7) a Then, F(x) is continuous on [a, b], differentiable on the open interval (a, b), and F0(x) = DF(x) = f (x), (8) for all x 2 (a, b). This constitutes the fundamental theorem of integral calculus and has as important consequence the well-known Barrow formula Z b f (x)dx = F(b) − F(a). (9) a These results show that the function F(x) is the anti-derivative and can be expressed by (4) giving Z b f (x)dx = f (−1)(b) − f (−1)(a). (10) a If the upper limit is variable relation (10) gives Z x f (x)dx = f (−1)(x) − f (−1)(a), (11) a establishing the connection and simultaneously the difference between the anti-derivative and the integral. Also, for any c 2 [a, b], we have Z b Z c Z b f (x)dx = f (x)dx + f (x)dx = f (−1)(c) − f (−1)(a) + f (−1)(b) − f (−1)(c). (12) a a c These expressions were presented in terms of the left derivative and anti-derivative. The corresponding right operators are readily obtained. However, in an integer order formulation, they give the same result in all the points where f (x) is a continuous function. 2.3. Definite Fractional Integral According to the above discussion, it is not clear how to obtain a generalisation of the definite integral. However, expression (10) suggests a shortcut for the solution: introduce it using a generalization of the Barrow formula. Let f (x), x 2 R, such that exist their left and right derivatives of any order. Denote the left and (−a) right anti-derivatives by flr (x) with a > 0. Definition 1. We define a-order fractional integral (FI) of f (x) over the interval (a, b) through the fractional Barrow formula Z b a a (−a) (−a) Ilr f (a, b) = − f (x)dx = flr (b) − flr (a), (13) a In coherence with the integer order result, this FI must lead to a fractional formulation of the fundamental theorem of integral calculus. Making variable the upper limit, b = x 2 R, and putting a f (x) = Dlr g(x) in (13) it comes Z x a a a a −a a −a a Ilr Dlr g(a, x) = − Dlr g(t)dt = Dlr Dlr g(x) − Dlr Dlr g(a), a Fractal Fract. 2017, 1, 2 4 of 9 but it is expected to obtain Z x a a a a Ilr Dlr g(a, x) = − Dlr g(t)dt = g(x) − g(a). (14) a This means that we should have −a a Dlr Dlr g(x) = g(x). (15) On the other hand, according to (8), the right hand side in the equation, a a a h (−a) (−a) i Dlr f [Ilr f (a, x)] = Dlr flr (x) − flr (a) , (16) should be equal to f (x). This implies that a h (−a) i Dlr flr (x) = f (x) (17) and that the derivative of a constant is zero a h (−a) i Dlr flr (a) = 0. (18) These results show that not all the FD can be used to generalise the notion of FI. For now, let us assume that the derivatives to be adopted verify (15), (17), and (18). In this case, (12) can be readily generalised to Z b Z c Z b − f (x)dxa = − f (x)dxa + − f (x)dxa = f (−a)(c) − f (−a)(a) + f (−a)(b) − f (−a)(c).