Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, Shanghai, 2009, pp. 263-268
In this paper we consider the computation of H-infinity norm of retarded time-delay systems with discrete pointwise state delays. It is well known that in the finite dimensional case H-infinity norm of a system is computed using the connection between the singular values of the transfer function and the imaginary axis eigenvalues of an Hamiltonian matrix. We show a similar connection between the singular values of a transfer function of a time-delay system and the imaginary axis eigenvalues of an infinite dimensional operator $\mathcal{L}_ξ$. Using spectral methods, this linear operator is approximated with a matrix. The approximate H-infinity norm of the time-delay system is calculated using the connection between the imaginary eigenvalues of this matrix and the singular values of a finite dimensional approximation of the time-delay system. Finally the approximate results are corrected by solving a set of equations which are obtained from the reformulation of the eigenvalue problem for $\mathcal{L}_ξ$ as a finite dimensional nonlinear eigenvalue problem.
We consider delay differential algebraic equations (DDAEs) to model interconnected systems with time-delays. The DDAE framework does not require any elimination techniques and can directly deal with any interconnection of systems and controllers with time-delays. In this framework, we analyze the properties of the H-infinity norm of systems described by delay differential algebraic equations. We show that the standard H-infinity norm may be sensitive to arbitrarily small delay perturbations. We introduce the strong H-infinity norm which is insensitive to small delay perturbations and describe …
In this paper, we study the stability of suboptimal H-infinity controllers for time-delay systems. The optimal H-infinity controller may have finitely or infinitely many unstable poles. A stable suboptimal H-infinity controller design procedure is given for each of these cases. The design methods are illustrated with examples.
We design fixed-order strong H-infinity controllers for general time-delay systems. The designer chooses the controller order and may introduce constant time-delays in the controller. We represent the closed-loop system of the plant and the controller as delay differential algebraic equations (DDAEs). This representation deals with any interconnection of systems with time-delays without any elimination techniques. We present a numerical algorithm to compute the strong H-infinity norm for DDAEs which is robust to arbitrarily small delay perturbations, unlike the standard H-infinity norm. We opt…
We consider the computation of H-infinity norms for Single-Input-Single-Output (SISO) time-delay systems, which are described by delay differential algebraic equations. Unlike the iterative level set methods in the literature, we present a novel numerical method to compute the H-infinity norm. This method requires solving one eigenvalue problem of at most twice the size of the eigenvalue problem in every iteration of a level set method, but in practice often considerably lower. We first show that the computation of extrema of the transfer function can be turned into the computation of the imag…
The approach in Foias et al. (1996) is one of the well-developed methods to design H-infinity controllers for general infinite dimensional systems. This approach is applicable if the plant admits a special coprime inner/outer factorization. We give the largest class of single-input-single-output (SISO) time delay systems for which this factorization is possible and factorize the admissible plants. Based on this factorization, we compute the optimal H-infinity performance and eliminate unstable pole-zero cancellations in the optimal H-infinity controller. We extend the results on the finite imp…
An eigenvalue based framework is developed for the H-infinity norm analysis and its norm minimization of coupled systems with time-delays, which are naturally described by delay differential algebraic equations (DDAEs). For these equations H-infinity norms are analyzed and their sensitivity with respect to small delay perturbations is studied. Subsequently, numerical methods for the H-infinity norm computation and for designing controllers minimizing the H-infinity norm with a prescribed structure or order, based on a direct optimization approach, are briefly addressed. The effectiveness of th…
This paper investigates stable suboptimal H-infinity controllers for a class of single-input single-output time-delay systems. For a given plant and weighting functions, the optimal controller minimizing the mixed sensitivity (and the central suboptimal controller) may be unstable with finitely or infinitely many poles in complex right half-plane. For each of these cases search algorithms are proposed to find stable suboptimal H-infinity controllers. These design methods are illustrated with examples.
The skew Toeplitz approach is one of the well developed methods to design H-infinity controllers for infinite dimensional systems. In order to be able to use this method the plant needs to be factorized in some special manner. This paper investigates the largest class of SISO time delay systems for which the special factorizations required by the skew Toeplitz approach can be done. Reliable implementation of the optimal controller is also discussed. It is shown that the finite impulse response (FIR) block structure appears in these controllers not only for plants with I/O delays, but also for …
H-infinity controllers are frequently used in control theory due to their robust performance and stabilization. Classical H-infinity controller synthesis methods for finite dimensional LTI MIMO plants result in high-order controllers for high-order plants whereas low-order controllers are desired in practice. We design fixed-order H-infinity controllers for a class of time-delay systems based on a non-smooth, non-convex optimization method and a recently developed numerical method for H-infinity norm computations.
We analyze and design H-infinity controllers for general time-delay systems with time-delays in systems' state, inputs and outputs. We allow the designer to choose the order of the controller and to introduce constant time-delays in the controller. The closed-loop system of the plant and the controller is modeled by a system of delay differential algebraic equations (DDAEs). The advantage of the DDAE modeling framework is that any interconnection of systems and controllers prone to various types of delays can be dealt with in a systematic way, without using any elimination technique. We presen…
This paper examines the robust (strong) H-infinity norm of a linear time-invariant system with discrete delays. The considered system is subject to real-valued, structured, Frobenius norm bounded uncertainties on the coefficient matrices. The robust H-infinity norm is the worst case value of the H-infinity norm over the realisations of the system and hence an important measure of robust performance in control engineering. However this robust H-infinity norm is a fragile measure, as for a particular realization of the uncertainties the H-infinity norm might be sensitive to arbitrarily small per…
We consider the characterization and computation of H-infinity norms for a class of time-delay systems. It is well known that in the finite dimensional case the H-infinity norm of a transfer function can be computed using the connections between the corresponding singular value curves and the imaginary axis eigenvalues of a Hamiltonian matrix, leading to the established level set methods. We show a similar connection between the transfer function of a time-delay system and the imaginary axis eigenvalues of an infinite dimensional linear operator $\mathcal{L}_ξ^N$. Based on this result, we prop…
Weight Try-Once-Discard Protocol-Based L_2 L_infinity State Estimation for Markovian Jumping Neural Networks with Partially Known Transition Probabilities
Weighted sensitivity minimization is studied within the framework of strongly stabilizing (stable) H-infinity controller design for a class of infinite dimensional systems. This problem has been solved by Ganesh and Pearson, [11], for finite dimensional plants using Nevanlinna-Pick interpolation. We extend their technique to a class of unstable time delay systems. Moreover, we illustrate suboptimal solutions, and their robust implementation.
In this paper sensitivity minimization problem is considered for a class of unstable time delay systems. Our goal is to find a stable controller stabilizing the feedback system and giving rise to smallest H-infinity norm for the sensitivity function. This problem has been solved by Ganesh and Pearson (1986) for finite dimensional plants using Nevanlinna-Pick interpolation. We extend their technique to include possibly unstable time delay systems. Moreover, we illustrate suboptimal solutions, and their robust implementation.
An eigenvalue based framework is developed for the stability analysis and stabilization of coupled systems with time-delays, which are naturally described by delay differential algebraic equations. The spectral properties of these equations are analyzed and their stability properties are studied, taking into account the effect of small delay perturbations. Subsequently, numerical methods for stability assessment and for designing stabilizing controllers with a prescribed structure or order, based on a direct optimization approach, are briefly addressed. The effectiveness of the approach is ill…
This manuscript discusses a scalable controller synthesis method for networked systems with a large number of identical subsystems based on the H-infinity control framework. The dynamics of the individual subsystems are described by identical linear time-invariant delay differential equations and the effect of transport and communication delay is explicitly taken into account. The presented method is based on the result that, under a particular assumption on the graph describing the interconnections between the subsystems, the H-infinity norm of the overall system is upper bounded by the robus…
We present SSD, Software for Systems with Delays, a de novo MATLAB package for the analysis and model reduction of retarded time delay systems (RTDS). Underneath, our delay system object bridges RTDS representation and Linear Fractional Transformation (LFT) representation of MATLAB. This allows seamless use of many available visualizations of MATLAB. In addition, we implemented a set of key functionalities such as H2 norm and system gramian computations, balanced realization and reduction by direct integral definitions and utilizing sparse computation. As a theoretical contribution, we extend …
The finite time stability (FnTSta) theory of delayed systems has not been set up until now. In this paper, we propose a two-phases-method (2PM), to achieve this object. In the first phase, we prove that the time for norm of system error evolving from initial values to 1 is finite; then in the second phase, we prove that the time for norm of the error evolving from 1 to 0 is also finite, thus FnTSta is obtained. Considering the cost and complexity of controller, we use only two simple terms to realize this aim. For the proposed 2PM, time delays can be the same or asynchronous, bounded or unboun…
For nonlinear time-delay systems, domains of attraction are rarely studied despite their importance for technological applications. The present paper provides methodological hints for the determination of an upper bound on the radius of attraction by numerical means. Thereby, the respective Banach space for initial functions has to be selected and primary initial functions have to be chosen. The latter are used in time-forward simulations to determine a first upper bound on the radius of attraction. Thereafter, this upper bound is refined by secondary initial functions, which result a posterio…
