Robust H{infty} dynamic output feedback control for 2D linear parameter-varying systems

James Lam Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong Changhong Wang Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, People's Republic of China Corresponding author. Email: ligangwu{at}hit.edu.cn Email: james.lam{at}hku.hk Email: cwang{at}hit.edu.cn Received on June 28, 2006; Accepted on October 1, 2007 This paper is concerned with the problem of robust dynamicoutput feedback control for 2D discrete-time linear parameter-varyingsystems. Given a Fornasini–Marchesini local state-spacesystem with linear varying parameters, our attention is focussedon the design of full-order dynamic output feedback controller,which guarantees the closed-loop system to be asymptoticallystable and has a prescribed disturbance attenuation performance.A sufficient condition for the existence of a desired robustoutput feedback controller is established in terms of parameterizedlinear matrix inequalities, and the corresponding controllersynthesis is cast into a convex optimization problem which canbe efficiently handled by using standard numerical software.A numerical example is provided to illustrate the effectivenessof the proposed design method.     

A necessary and sufficient algebraic condition for the controllability of a thermoelastic plate equation

In this paper we give a necessary and sufficient algebraic conditionfor the approximate controllability of the following thermoelasticplate equation with Dirichlet boundary conditions w_tt + ²w + = a₁(x)u₁ + ... + a_m(x)u_m, t 0, x , _t – ß – w_t = d₁(x)u₁ + ... + d_m(x)u_m,t 0, x , = w = w = 0, t 0, x , where 0, ß > 0, is a sufficiently regular boundeddomain in R^N, a_i, d_i, L² (; R), the control functions u_i L²(0, t₁; R); i = 1, 2, ..., m. This condition is easy to checkand is given by Rank [P_jBA_jP_jBA²_jP_jB ... A^3_j–1_jP_jB] = 3_j,BU=b₁U₁+...+b_mU_m,b_i=[0, a_i, d_i], A_j=[0, –²_j, 0, 1, 0, –_j, 0, _j, –ß_j]P_j, j1, where _j, S are the eigenvalues of – with Dirichlet boundarycondition and P_j, S are the projections on the correspondingeigenspace.     

Approximation of exact controllability problem involving parabolic differential equations

In this paper we examine computation of optimal control u^* ofthe exact controllability problem (referred to as the constraintproblem) governed by the following type of linear parabolicdifferential equations: (y/t) + Ay = u in Q y = 0 on y(0) = y₀ on where A is the second-order elliptic differential operator, is a bounded domain in ^k with smooth boundary , Q = (0, T)x , = (0, T) x and T > 0. This is achieved by approximatingu^* through a sequence {u_n} of controls corresponding to unconstrainedproblems involving a penalty function arising from the controllabilityconstraint.     

A Generalized Frequency Response for Nonlinear Systems

The principal aim of this paper is to present the idea of ‘generalizedfrequency response’ of a nonlinear input-output map S_xo.It is defined as · S_xo · ^-1 where is the canonicalisomorphsim from the weighted space L²_w[0, ] to ² with respectto a given basis for L²_w(0 , ) and the standard basis for ².Realization results are presented pertainig to the linear, bilinear,and nonlinear cases.     

Finite-dimensional H{infty} control of flexible beam equation systems

In this paper, we consider H control problem with measurementfeedback for flexible beam equation systems. The aim is to constructa finite-dimensional H controller with a given level for theflexible beam equation system. For that purpose, we first formulatethe system as an infinite-dimensional system in l² and derivea finite-dimensional reduced-order system for the infinite-dimensionalsystem. Then, an H controller with level d less than is constructedfor the reduced-order model. The finite-dimensional controllertogether with a residual mode filter plays a role of a finite-dimensionalH controller with level for the original flexible beam equationsystem, if the order of the residual mode filter is chosen sufficientlylarge.     

Characterization of Distributions through Maximization of {alpha}-Entropies

This paper provides characterizations of the Pareto distributionof the second kind, the Pearson type-VII distribution and thet-distribution. These characterizations have been obtained throughmaximization of -entropies. As 1, characterizations of the exponential,the Laplace, and the normal distributions are obtained. On sabbatical leave from the Department of Statistics, YarmoukUniversity, Irbid, Jordan.     

Controllability of a system of parabolic equations with non-diagonal diffusion matrix

In this paper we give a necessary and sufficient algebraic conditionfor the approximate controllability of the following systemof parabolic equations with Dirichlet boundary condition: {z_t = D z + b₁(x)u₁ + ··· + b_m(x)u_m, t 0, z ⁿ, z = 0, on where is a sufficiently smooth bounded domain in ^N, b_i L²(;ⁿ), the control functions u_i L²(0, t₁; ); i = 1, 2, ..., mand D is an n x n non-diagonal matrix whose eigenvalues aresemi-simple with positive real part. This algebraic conditionis checkable since it is given in terms of the n_j x m matricesDP_j and P_jB, i.e. Rank [P_jBDP_jBD²P_jB··· D^n_j–1 P_jB]= n_j, where P_jBu = P_jb₁u₁ + ··· + P_jb_mu_m. Finally,this result can be applied to those systems of partial differentialequations that can be rewritten as a diffusion system (see deOliveira, 1998).     

A generalization of the concept of similarity of infinite-dimensional linear systems with applications to stability, stabilizability, and detectability

In the present paper a generalization of the concept of similaritycalled D similarity for infinite-demensional linear systemsis introduced. We show that this D similarity preserves thespectrum in the standard sense, and the exponential growth bound,stability, stabilizability, and detectability in the extensionsense. For the case where one of the semigroups is stronglydifferentiable at some t₀ 0, it is shown that D similaritypreserves the exponential growth bound and weak and exponentialstability in the standard sense. For the case where one of thesemigroups is analytic, it is shown that D similarity preservesstabilizability and detectability in the standard sense.     

A Note on a System Theoretic Approach to a Conjecture by Peller-Khrushchev: The General Case

Based on the construction of infinite-dimensional balanced realizations,an alternative solution to the following inverse spectral problemis presented. Given a decreasing sequence of positive numbers(_n)_n>1 (i.e. ₁₂₃...0), does there exist a Hankel operatorwhose sequance of singular values is (_n)_n>1? This paper isan extension of a previously published paper in which the sameapproach was taken in the case of a monotonically decreasingsequence(_n)_n>1.     

Hankel operators of systems with feedthrough delays

We study the singular values of and the essential spectrumof * when is the (non compact) Hankel operator of a systemwith feedthrough delays.     

Fitted and Unfitted Finite-Element Methods for Elliptic Equations with Smooth Interfaces

This paper considers the finite-element approximation of theelliptic interface problem: -?(u) + cu = f in Rⁿ (n = 2 or3), with u = 0 on , where is discontinuous across a smoothsurface in the interior of . First we show that, if the meshis isoparametrically fitted to using simplicial elements ofdegree k - 1, with k 2, then the standard Galerkin method achievesthe optimal rate of convergence in the H¹ and L² norms overthe approximations _l⁴ of _l where _{l 2}. Second, since itmay be computationally inconvenient to fit the mesh to , weanalyse a fully practical piecewise linear approximation ofa related penalized problem, as introduced by Babuska (1970),based on a mesh that is independent of . We show that, by choosingthe penalty parameter appropriately, this approximation convergesto u at the optimal rate in the H¹ norm over _l⁴ and in the L²norm over any interior domain _l^* satisfying _l^* _l^** _l⁴ for somedomain _l^**. Present address: School of Mathematical and Physical Sciences,University of Sussex, Brighton BN1 9QH     

Partition deformations in hierarchical hybrid control systems

Hierarchical hybrid control (HHC) (Caines & Wei, submitted)needs to be applicable to systems in which the dynamics of thesystem, the nature of the controllable flows, and the positionsof the boundaries of any partition can only be approximatelyspecified. In this paper, conditions are given under which thedynamics of a high-level HHC system M, and its associated setof control laws, are robust (that is to say, insensitive) withrespect to small perturbations of the partitions defining Mand small perturbations of the controllable flow. This analysisemploys two notions of the deformation of a partition specifiedrespectively by (i) maps of the boundaries and (ii) maps ofthe blocks of . Further, the robustness properties of the partitionmachine M are investigated for deformations of the controllableflow and, finally, for certain mechanical systems.     

Cardinal Invariants and Eventually Different Functions

In this paper we study several kinds of maximal almost disjointfamilies. In the main result of this paper we show that forsuccessor cardinals , there is an unexpected connection betweeninvariants a_e(), b() and a certain cardinal invariant m_d(⁺)on ⁺. As a corollary we get for example the following result.For a successor cardinal , even assuming that ^< = and 2= ⁺, the following is not provable in Zermelo–Fraenkelset theory. There is a ⁺-cc poset which does not collapse andwhich forces a() = ⁺ < a_e() = ⁺⁺ = 2. We also apply the ideasfrom the proofs of these results to study a = a() and non(M).2000 Mathematics Subject Classification 03E17 (primary), 03E05(secondary).     

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.     

Finite Element Approximation of a Rigid Punch Indenting a Membrane

Optimal order H¹ and L error bounds are obtained for a continuouspiecewise linear finite element approximation of an obstacleproblem, where the obstacle's height as well as the contactzone, _c, are a priori unknown. The problem models the indentationof a membrane by a rigid punch. For R², given ,g R⁺ and an obstacle defined over E we consider the minimization of |v|²_1,+gµover (v, µ) H¹₀() x R subject to v+µ on E. In additionwe show under certain nondegeneracy conditions that dist (_c,^h_c)Ch ln 1/h, where ^h_c is the finite element approximation to_c. Finally we show that the resulting algebraic problem canbe solved using a projected SOR algorithm.     

Robust H{infty} control of uncertain systems with time-varying state and control input delays

In this paper, a new method for robust H controller of uncertainsystems with time-varying state and control input delays isproposed. A sufficient condition, which is dependent on themaximum value of the time derivative of time-varying delay,is also presented for the existence of H controller. The proposedcontroller not only stabilizes closed-loop uncertain systemsbut also guarantees a prescribed H norm bound of the closed-looptransfer matrix from the disturbance to controlled output. Furthermore,we propose a new robust stability criterion to decide the allowedmaximum bound of plant uncertainty which still can be stabilizedby proposed robust controller. An example given illustratesthe availability of the proposed design method.     

Elliptic Problems Involving Phase Boundaries Satisfying a Curvature Condition

Two theorems related to equilibrium free-boundary problems arepresented. One arises as a time-independent solution to thephase-field equations. The other is the relevant time-independentproblem for the Stefan model, modified for the surface tensioneffect. It also serves as a preliminary result for the phase-fieldformulation. Under appropriate conditions, we prove that, givenan appropriate positive constant and a smooth function u: R;,where is an annular domain in R², there exists a curve suchthat u(x)=—K(x) for all x , where K is the curvature.Using this result, we prove the existence of solutions to O=²+ ?(—³) + 2u that have a transition layer behaviour (from=—1 to =+1) for small and make the transition on thecurve . This proves there exist solutions to the phase fieldmodel that satisfy a Gibbs-Thompson relation.     

Estimates of the region of attraction of continuous-time cascade systems

Xiao-Song Yang Department of Mathematics, Huazhong University of Science and Technology Wuhan, Hubei 430074, People's Republic of China Huimin Li Departments of Mathematics and Control and Engineering, Huazhong University of Science and Technology Wuhan, Hubei 430074, People's Republic of China Corresponding author. Email: yangxs{at}cqupt.edu.cn Received on May 1, 2006; Accepted on October 6, 2006 In this paper, we first present some new sufficient conditionsfor global asymptotic stability of continuous-time cascade systems.Then, we give some detailed results on the region of attractionof continuous-time cascade systems. Some examples are presentedto illustrate these results.     

On A Minimization Problem for Vector Fields in L1

This paper treats the problem of minimizing the norm of vectorfields in L¹ with prescribed divergence. The ridge of . playsan important role in the analysis, and in the case where R²is a polygonal domain, the ridge is thoroughly analysed andsome examples are presented. In the case where Rⁿ is a Lipschitzdomain and the divergence is a finite positive Borel measure,the infimum is calculated, and it is shown that if an extremalexists, then it is of the form ₁ = –Fd, where F is a nonnegativefunction and d(x) is the distance from x to the boundary .Finally, if R² is a polygonal domain and the measure is representedby a nonnegative continuous function, then an explicit expressionfor the extremal is given, and it is proven that this extremalis unique.