On some testable conditions for excitability and transparency of a class of time-delay systems with point delays

This article is concerned with the excitability of positive linear time-invariant systems subject to internal point delays. It is proved that the excitability independent of delay is guaranteed if an auxiliary delay-free system is excitable. Necessary and sufficient conditions for excitability and transparency are formulated in terms of the parameterization of the dynamics and control matrices and, equivalently, in terms of strict positivity of a matrix of an associate system obtained from the influence graph of the original system. Such conditions are testable through simple algebraic tests involving moderate computational effort.     

Stability analysis of a class of nonlinear positive switched systems with delays

This paper addresses the stability problem of delayed nonlinear positive switched systems whose subsystems are all positive. Both discrete-time systems and continuous-time systems are studied. In our analysis, the delays in systems can be unbounded. Two conditions are established to test the local asymptotic stability of the considered systems. The method to compute the domains of attraction is also proposed provided that the system is locally asymptotically stable. When reduced to general nonlinear positive systems, that is, the considered switched system consists of only one mode, an interesting conclusion follows that the proposed nonlinear positive system is locally asymptotically stable for all admissible delays and nonnegative nonlinearities which satisfy an extra condition at the origin, if and only if the system represented by the linear part is asymptotically stable for all admissible delays. Finally, a numerical example is presented to illustrate the obtained results.     

On exponential stability of linear singular positive delayed systems

In this paper, the problem of positivity and exponential stability for linear singular positive systems with time delay is addressed. By using the singular value decomposition method, necessary and sufficient conditions for the positivity of the system are established. Based on that, a new sufficient condition for exponential stability of the system is derived. All of the criteria obtained in this paper are presented in terms of algebraic matrix inequalities, which make the conditions can be solved directly. A numerical example is given to show the usefulness of the proposed results.     

Discretization of continuous systems with internal and external point delays through a quasiparametrical ARMA model

In this note, a discrete input/output model, which involves an ARMA part plus a nonrecursive additive term associated with the initial conditions of the free response, is formulated for continuous linear time-invariant systems involving internal and external point delays. The model is obtained from the application of the Cayley-Hamilton theorem to the continuous state-transition matrix. In some particular situations of asymptotic stability of the free system, the additive term associated with the response to initial conditions tends to a constant as time increases to infinity, and can be compensated through feedback so that the closed-loop model becomes a classical ARMA model     

Suboptimal control of systems with multiple delays

The application of Pontryagin's maximum principle to the optimization of linear systems with time delays results in a system of coupled two-point boundary-value problems involving both delay and advance terms. The exact solution of this system of TPBV problems is extremely difficult, if not impossible. In this paper, a fast-converging iterative approach is developed for obtaining the suboptimal control for nonstationary linear systems with multiple state and control delays and with quadratic cost. At each step of the proposed method, a linear nondelay system with an extra perturbing input must be optimized. The procedure can be extended for the optimization of nonlinear systems with multiple time-varying delays, provided that some of the nonlinearities satisfy the Lipschitz condition.     

Robust stabilization of linear systems with time-varying point delays via a delay-free dynamic controller

^** Email: wepdepam{at}lg.ehu.es This paper deals with the problem of robust closed-loop stabilizationagainst parametrical uncertainties of linear systems subjectto internal (i.e. in the state) and external (i.e. in the output),possibly time-varying and unbounded point delays of a boundedtime-derivative. The output-feedback linear stabilizing controlleris delay free and dynamic. It is assumed that the undelayedplant (i.e. the delay-free part of the plant) is stabilizableand detectable. The synthesis process of the stabilizing controllerinvolves three major actions. First, an augmented system isbuilt with the dynamic equations of both plant and controller.At this step, the controller structure is available but a particularstabilizing controller parametrization still remains undetermined.Subsequently, a Lyapunov matrix equation is ensured to be solvablefor the augmented closed-loop delay-free system so that sucha system is stable with a large stability abscissa related tothe amounts of uncertainties and delay contributions to thedynamics. At this stage, one takes the advantage that the augmentedsystem may be stabilized by an appropriate dynamic controllerof minimum order since the undelayed plant is stabilizable anddetectable. Finally, a complementary matrix equality is manipulatedto establish the closed-loop stability tolerance of the augmenteddelay system, related to that of the delay-free one, to thedelayed dynamics and parametrical uncertainties.     

Exponential stability and applications of switched positive linear impulsive systems with time-varying delays and all unstable subsystems

The global uniform exponential stability of switched positive linear impulsive systems with time-varying delays and all unstable subsystems is studied in this paper, which includes two types of distributed time-varying delays and discrete time-varying delays. Switching behaviors dominating the switched systems can be either stabilizing and destabilizing in the new designed switching sequence. We design new linear programming algorithm process to find the feasible ratio of stabilizing switching behaviors, which can be compensated by unstable subsystems, destabilizing switching behaviors, and impulses. Specically, we add a kind of nonnegative impulses which is consistent with the switching behaviors for the systems. Employing a multiple co-positive Lyapunov-Krasovskii functional, we present several new sufficient stability criteria and design new switching sequence. Then, we apply the obtained stability criteria to the exponential consensus of linear delayed multi-agent systems, and obtain the new exponential consensus criteria. Three simulations are provided to demonstrate the proposed stability criteria.     

Stability and positivity of equilibria for subhomogeneous cooperative systems

Building on recent work on homogeneous cooperative systems, we extend results concerning stability of such systems to subhomogeneous systems. We also consider subhomogeneous cooperative systems with constant input, and relate the global asymptotic stability of the unforced system to the existence and stability of positive equilibria for the system with input.     

Stability of perturbed switched nonlinear systems with delays

This paper addresses the stability problems of perturbed switched nonlinear systems with time-varying delays. It is assumed that the nominal switched nonlinear system (perturbation-free system) is uniformly exponentially stable and that the perturbations satisfy a linear growth bound condition. It is revealed that there exists an upper bound of perturbation guaranteeing that the perturbed system preserves the stability property of the nominal system, locally or globally, depending on both perturbations and the nominal system itself. An example is provided to illustrate the proposed theoretical results.     

Adaptive event-triggered dynamic distributed control of switched positive systems with switching faults

This paper designs the dynamic output-feedback controller of switched positive systems subject to switching faults using an improved adaptive event-triggering mechanism. An adaptive event-triggering condition is addressed in the form of 1-norm by virtue of the measurable outputs of distributed sensors and the corresponding error. An error-based closed-loop control system whose dynamic variable relies on a state observer is obtained. A multiple copositive Lyapunov function is constructed to deal with the positivity and stability of the systems. The matrix decomposition and linear programming approaches are used to design and compute the controller and observer gains. An improved average dwell time scheme is proposed to handle the switching faults. The contributions of this paper lie in that: (i) An adaptive event-triggering mechanism is established for switched positive systems, (ii) A framework on the fault of switching signal is constructed, and (iii) A dynamic distributed controller is proposed for the considered systems. Finally, two illustrative examples are given to verify the effectiveness of the obtained results.     

Modelling of three-dimensional mechanical systems using point coordinates with a recursive approach

In this paper, the dynamic simulation of constrained mechanical systems that are interconnected of rigid bodies is studied using projection recursive algorithm. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. Closed-chain system is transformed to open-chain by cutting suitable kinematical joints and introducing cut-joint constraints. For the resulting open-chain system, the equations of motion are generated recursively along the serial chains. An example is chosen to demonstrate the generality and simplicity of the developed formulation.     

Near-optimum design of nonstationary linear systems with state and control delays

A computationally efficient method based on a sensitivity approach is developed to obtain suboptimal control for nonstationary linear systems with multiple state and control delays and with quadratic cost. The proposed suboptimal control includes some truncated series whose terms are calculated in a recursive manner from nondelay system optimization.     

Regular linear systems governed by systems with state, input and output delays

^** Email: hadd{at}ucam.ac.ma^*** Email: idrissi{at}ucam.ac.ma In this paper, we give a new reformulation of linear systemswith delays in input, state and output. We show that these systemscan be written as a regular linear system without delays. Thetechnique used here is essentially based on the theory recentlydeveloped by Salamon and Weiss and the shift in semigroup properties.Our framework can be applied, in particular, when the delayoperators are given by Riemann–Stieltjes integrals.     

On the control of queueing systems with failures and repairs

Several classes of problems can be modelled as queueing systems with failures where preventative maintenance has to be optimized: relevant examples are computer systems, databases and production lines. This paper studies a simple case of such a situation based on the M/M/1 queue where the state of the server can take two values (on, off); the transition on–off happens either when there is a failure or when one decides to maintain. The characterization and an approximation of an optimal policy are given. Extensions to more general models, including general Markov processes, are examined.     

Dissipativity of Runge-Kutta methods for dynamical systems with delays

This paper is concerned with the numerical solution of dissipativeinitial value problems with delays by Runge-Kutta methods. Asufficient condition for the dissipativity of the systems isgiven. The concepts of D(l)-dissipativity and GD(l)-dissipativityare introduced. We investigate the dissipativity propertiesof (k,l)-algebraically stable Runge-Kutta methods with piecewiseconstant or linear interpolation procedures for finite-dimensionaland infinite-dimensional dynamical systems with delays.     

Nonfragile dynamic output-feedback control for positive singular systems under the switched mechanism and Round-Robin protocol

In this paper, the singular positive system with uncertain parameters and switched structure is analyzed. First of all, a nonfragile dynamic output-feedback controller with Round-Robin protocol is constructed so as to decrease the occupancy of the communication channels and overcome the phenomenon of controller gain fluctuations. Then, the regularity, causality, positivity, and robustly exponential stability of the resultant closed-loop system are discussed respectively by utilizing the method of mode dependent minimum dwell time, mode dependent ranged dwell time, and mode dependent constant dwell time. The explicit design mechanisms of the related controller parameters are simultaneously presented. Finally, two simulation examples are provided to show feasibility of the theoretical results obtained.     

Approximate controllability of non-linear evolution systems with time-varying delays

^** Email: balachandran_k{at}lycos.com In this paper, the approximate controllability of non-linearevolution time-varying delay systems with preassigned responsesis studied. These controllability results are for non-linearsystems that are not associated with linear systems and no compactnessassumption is imposed.     

Disturbance decoupling and model matching problems for discrete-time systems with time-varying delays

In this paper, the disturbance decoupling problem and the model matching problem for discrete-time linear systems with time-varying delays are considered. Solvability of the above problems is characterized by means of structural necessary and sufficient conditions that can be checked by algorithmic procedures. The basic method used to analyze the considered problems consists in representing the discrete-time linear systems with time-varying delays as switching linear systems, whose properties can be studied by a powerful structural approach. In this way, the considered control problems can be reduced to the corresponding problems for switched linear systems, whose solvability has been recently characterized.