Analysis of switched linear systems in the plane,part 1: Local behavior of trajectories and local cycle geometry

This paper investigates the problem of control of switched linear systems evolving inR ². The concept of an opposition point is introduced, and its properties related to the existence of closed trajectories in the phase plane are investigated. The geometry of cycles in a neighborhood of an opposition point is also studied.This research was supported by the Office of Naval Research, ONR Contract No. N0013-80-C-0199, and the United States Department of Energy, DOE Contract No. DE-AC01-79-ET-29363.     

Global results on rational systems in the plane,part 1

Edited by Gerry Ladas

In this section we present some open problems and conjectures about some interesting types of difference equations. Please submit your problems and conjectures with all relevant information to G. Ladas: Email: gladas@math.uri.edu     

Closed trajectories and global controllability in the plane

In the plane, results are given about the structure of closedtrajectories which may occur as simple closed curves or generalclosed curves with self-intersections. Necessary conditionsfor the global controllability of nonlinear systems that arein the so-called linear-analytic form = f(x)+ug(x), where x R² and u 1, are given. It is provedthat, if there exists a closed trajectory of the system, then either contains a point where f and g are linearly dependent,or encloses some zeros of f + ug for all u [-1,1]. Then thisresult is used to prove that, if the linear-analytic systemis controllable and the vector field g is never zero in W R²,then W contains some zeros of f + ug for some u [-1,1]. A topologicalapproach is taken. Remarks are made about the size of the regionwhere a closed trajectory can lie, and about the shape of theclosed trajectories. Further implications are discussed.     

Approximate controllability for trajectories of semilinear control systems

We treat an abstract semilinear control system and study the controllability problem for its trajectories. Assuming a range condition of the control action operator and an inequality condition on the system parameters, we can show that the reachable trajectory set of the semilinear system is equivalent to that of its corresponding linear system.The author wishes to express his deep appreciation to Prof. T. I. Seidman for his many helpful suggestions and to Prof. W. Takahashi for many stimulating conversations.     

Stability of periodically switched discrete-time linear singular systems

In this paper we present some necessary and sufficient conditions for the stability of periodically switched discrete-time linear index-1 singular system, (PSSS). In particular, it is proved that, if at least one subsystem of a PSSS is asymptotically stable, then there is a switching rule, so that the whole system is also uniformly exponentially stable. Furthermore, for a periodically switched control system with no stable subsystems, there exist a switching rule and feedback matrices, such that the obtained PSSS is uniformly exponentially stable.     

Complete controllability of perturbed linear control systems,revisited

LetL ¹(I, ^n,n )×M(I, ^n,m ) be the space of all pairs (A, B), whereA andB are measurable functions from a compact intervalI to ^n,n and ^n,m , respectively, andA is Lebesgue integrable. Also, let this space be endowed with the topology of theL ¹-norm with respect toA and the topology of convergence in measure with respect toB. Then, the set of all pairs (A, B), for which the corresponding linear control system

Equivalence of several characteristics of dual switched linear systems

This paper is concerned with the equivalence of several dynamic characteristics between mutually dual switched linear systems, both discrete- and continuous-time cases are considered. Two systems are mutually dual means that their system matrices are transpose of each other. The dynamic properties considered in this paper include four types: exponential stability, global uniform asymptotic stability, attractivity, and weak attractivity. It is shown that every one of the four dynamic properties of a switched linear system implies each of the four dynamic properties of its dual system, and vice versa. The main results enable us to investigate these dynamic properties of switched system by virtue of study related to the corresponding properties of its dual system, thus providing an alternative way to explore the dynamics of switched systems. A numerical example is provided to illustrate the obtained theoretical conclusions.     

On exact controllability and complete stabilizability for linear systems

This work is concerned with the relations between exact controllability and complete stabilizability for linear systems in Hilbert spaces. We give an affirmative answer to the open problem posed by Rabah and Karrakchou [R. Rabah, J. Karrakchou, Exact controllability and complete stabilizability for linear systems in Hilbert spaces, Appl. Math. Lett. 10 (1997) 35–40]. More precisely, if the $C_0$-semigroup $S\left(t\right)$ generated by $A$ is surjective and the pair $(A,B)$ with a bounded operator $B$ is completely stabilizable, then $(A,B)$ is exactly controllable without any additional condition.     

Global robust controllability of the triangular integro-differential Volterra systems

A solution of the global controllability problem for a class of nonlinear control systems of the Volterra integro-differential equations is presented. It is proven that there exists a family of continuous controls that solve the global controllability problem for this class. The constructed controls depend continuously on the initial and the terminal states. It makes possible to prove the global controllability of the uniformly bounded perturbations of these systems under the global Lipschitz condition for the unperturbed system with respect to the states and the controls.     

Dwell-time stability and stabilization conditions for linear positive impulsive and switched systems

Several results regarding the stability and the stabilization of linear impulsive positive systems under arbitrary, constant, minimum, maximum and range dwell-time are obtained. The proposed stability conditions characterize the pointwise decrease of a linear copositive Lyapunov function and are formulated in terms of finite-dimensional or semi-infinite linear programs. To be applicable to uncertain systems and to control design, a lifting approach introducing a clock-variable is then considered in order to make the conditions affine in the matrices of the system. The resulting stability and stabilization conditions are stated as infinite-dimensional linear programs for which three asymptotically exact computational methods are proposed and compared with each other on numerical examples. Similar results are then obtained for linear positive switched systems by exploiting the possibility of reformulating a switched system as an impulsive system. Some existing stability conditions are retrieved and extended to stabilization using the proposed lifting approach. Several examples are finally given for illustration.     

Identification of switched linear systems using subspace and integer programming techniques

We consider the identification of a switched linear system which consists of linear sub-models, with a rule that orchestrates the switching mechanism between the sub-models. Taking a set of switched linear systems and using a state space framework, we show that it is possible to combine subspace methods with mixed integer programming for system identification. The states of the system are first extracted from input–output data using sub-space methods. Once the state variables are known, the switched system is re-written as a mixed logical dynamical (MLD) system and the model parameters are calculated for via mixed integer programming. We report an example at the end of this paper together with simulation results in the presence of noise.     

Global stabilization of switched control systems with time delay

In this paper, the stabilization problem of switched control systems with time delay is investigated for both linear and nonlinear cases. First, a new global stabilizability concept with respect to state feedback and switching law is given. Then, based on multiple Lyapunov functions and delay inequalities, the state feedback controller and the switching law are devised to make sure that the resulting closed-loop switched control systems with time delay are globally asymptotically stable and exponentially stable.     

Small-time local controllability and continuity of the optimal time function for linear systems

For a finite-dimensional linear system, in which the control is restricted to belong to a completely arbitrary setJ, we give a simple necessary and sufficient condition for small-time local controllability from a pointp. The condition is equivalent to a characterization of the property that the Bellman function for the corresponding minimum-time optimal control problem is continuous atp.This work was partially supported by the National Science Foundation, Grant No. MCS-78-02442.     

Data-driven optimal tracking control of switched linear systems

This paper addresses the optimal tracking control for switched linear systems with unknown dynamics. We convert the problem into an optimal control problem of the augmented switched systems. In view of the augmented systems, we propose a data-driven switched linear quadratic regular algorithm for obtaining the optimal switching signal under unknown system dynamics. It is proved that the optimal switching signal will not cause Zeno behavior and can make the system stable. Besides, with the proposed algorithm, we just need to identify an autonomous system instead of the original systems, which has fewer parameters to be determined. A numerical example is given to illustrate the validity of the main results.     

Finite controllability of linear parabolic systems with stationary final states

The aim of controllability is usually to reach a final state only for a moment. But for practical reasons the trajectory often has to stay in this position for some time. The set of stationary states is analized and controllability for stationary states is investigated with finite dimensional controls.     

A geometric approach for reachability and observability of linear switched impulsive systems

This paper is concerned with the reachability and observability of linear switched impulsive systems with singular impulse matrices. First some new concepts with respect to the reachability and unobservability are introduced. Especially, span reachability is proposed because the reachable sets of switched impulsive systems do not always constitute subspaces. Then the geometric characterization of the span reachable and unobservable sets is presented. Moreover, the relations between the span reachable set, unobservable set and the invariant subspaces of such systems are discussed. Finally, corresponding criteria applied to linear impulsive systems and linear switched systems are also discussed.     

Commuting and stable feedback design for switched linear systems

In the paper, commuting and stable feedback design for switched linear systems is investigated. This problem is formulated as to build up suitable state feedback controller for each subsystem such that the closed-loop systems are not only asymptotically stable but also commuting each other. A new concept, common admissible eigenvector set (CAES), is introduced to establish necessary/sufficient conditions for commuting and stable feedback controllers. For second-order systems, a necessary and sufficient condition is established. Moreover, a parametrization of the CAES is also obtained. The motivation comes from stabilization of switched linear systems which consist of a family of LTI systems and a switching law specifying the switching between them, where if all the subsystems are stable and commuting each other, then the total system is stable under arbitrary switching.     

Robust controllability of linear systems: Analysis and application to pursuit problems

Robust controllability conditions for a linear uncertain system are derived. A class of transferring strategies is obtained. A robust controllability set, respecting a given control constraint, is constructed. An application example is presented. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

On stability of linear and weakly nonlinear switched systems with time delay

This paper studies time-delayed switched systems that include both stable and unstable modes. By using multiple Lyapunov-functions technique and a dwell-time approach, several criteria on exponential stability for both linear and nonlinear systems are established. It is shown that by suitably controlling the switching between the stable and unstable modes, exponential stabilization of the switched system can be achieved. Some examples and numerical simulations are provided to illustrate our results.