We study the recently introduced notion of output-input stability, which is a robust variant of the minimum-phase property for general smooth nonlinear control systems. The subject of this paper is developing the theory of output-input stability in the multi-input, multi-output setting. We show that output-input stability can be viewed as a combination of two system properties, one related to detectability and the other to left-invertibility. For systems affine in controls, we provide a necessary and sufficient condition for output-input stability, which relies on Hirschorn's nonlinear structure algorithm.
Given two nonlinear input-output systems written in terms of Chen-Fliess functional expansions, it is known that the feedback interconnected system is always well defined and in the same class. An explicit formula for the generating series of a single-input, single-output closed-loop system was provided by the first two authors in earlier work via Hopf algebra methods. This paper is a sequel. It has four main innovations. First, the full multivariable extension of the theory is presented. Next, a major simplification of the basic set up is introduced using a new type of grading that has recent…
In the paper we consider the invariant zero assignment problem in a linear multivariable system with several inputs/outputs by constructing a system output matrix. The problem is reduced to the pole assignment problem by a state feedback (modal control) in a descriptor system or a regular one. It is shown that the zero assignment and pole assignment are mathematically equivalent problems.
The paper deals with the problem of output regulation in a "non-equilibrium" context for a special class of multivariable nonlinear systems stabilizable by high-gain feedback. A post-processing internal model design suitable for the multivariable nature of the system, which might have more inputs than regulation errors, is proposed. Uncertainties in the system and exosystem are dealt with by assuming that the ideal steady state input belongs to a certain "class of signals" by which an appropriate model set for the internal model can be derived. The adaptation mechanism for the internal model i…
In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any arbitrarily assigned initial condition. Necessary and sufficient constructive conditions are given to deliver a monotonic step response from all initial conditions. This method is developed for multi-input multi-output (MIMO) systems, and can be applied to square and non-square systems, strictly proper and bi-proper systems, and, importantly, also minimum and non-minimum phase systems. The control met…
This paper proposes a multivariable extremum seeking scheme using Fast Fourier Transform (FFT) for a network of subsystems working towards optimizing the sum of their local objectives, where the overall objective is the only available measurement. Here, the different inputs are perturbed with different dither frequencies, and the power spectrum of the overall output signal obtained using FFT is used to estimate the steady-state cost gradient w.r.t. each input. The inputs for the subsystems are then updated using integral control in order to drive the respective gradients to zero. This paper pr…
Stability of MIMO PID With Backward Differences Under Fast Sampling: An Exact Spectral Criterion
Institute for Advanced Study, Shenzhen University（深圳大学高等研究院）；School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳）理工学院）
This work explores Lyapunov characterizations of the input-output-to-state stability (IOSS) property for nonlinear systems. The notion of IOSS is a natural generalization of the standard zero-detectability property used in the linear case. The main contribution of this work is to establish a complete equivalence between the input-output-to-state stability property and the existence of a certain type of smooth Lyapunov function. As corollaries, one shows the existence of ``norm-estimators'', and obtains characterizations of nonlinear detectability in terms of relative stability and of finite-en…
In previous work the notion of input to state stability (ISS) has been generalized to systems with outputs, yielding a number of useful concepts. When considering a system whose output is to be kept small (i.e. an error output), the notion of input to output stability (IOS) arises. Alternatively, when considering a system whose output is meant to provide information about the state (i.e. a measurement output), one arrives at the detectability notion of output to state stability (OSS). Combining these concepts, one may consider a system with two outputs, an error and a measurement. This leads n…
During the last decades, significant advances have been made in the area of power system stability and control. Nevertheless, when this analysis is carried out by means of decentralized conditions in a general network, it has been based on conservative assumptions such as the adoption of lossless networks. In the current paper, we present a novel approach for decentralized stability analysis and control of power grids through the transformation of both the network and the bus dynamics into the system reference frame. In particular, the aforementioned transformation allows us to formulate the n…
A notion of detectability for nonlinear systems is discussed. Within the framework of ``input to state stability'' (ISS), a dual notion of ``output to state stability'' (OSS), and a more complete detectability notion, ``input-output to state stability'' (IOSS) have appeared in the literature. This note addresses a variant of the IOSS property, using an integral norm to measure signals, as opposed to the standard supremum norm that appears in ISS theory.
This paper presents an application of mean field control to dynamic production optimization. Both noncooperative and cooperative solutions are considered. We first introduce a market of a large number of agents (firms) with sticky prices and adjustment costs. By solving auxiliary limiting optimal control problems subject to consistent mean field approximations, two sets of decentralized strategies are obtained and further shown to asymptotically attain Nash equilibria and social optima, respectively. The performance estimate of the social optimum strategies exploits a passivity property of the…
We show that for a large class of finite dimensional input-output positive systems that represent networks of transport and diffusion of solute in geological media, there exist equivalent multi-rate mass transfer and multiple interacting continua representations, which are quite popular in geo-sciences. Moreover, we provide explicit methods to construct these equivalent representations. The proofs show that controllability property is playing a crucial role for obtaining equivalence. These results contribute to our fundamental understanding on the effect of fine-scale geological structures on …
We consider discrete-time plants that interact with their controllers via fixed discrete alphabets. For this class of systems, and in the absence of exogenous inputs, we propose a general, conceptual procedure for constructing a sequence of finite state approximate models starting from finite length sequences of input and output signal pairs. We explicitly derive conditions under which the proposed construct, used in conjunction with a particular generalized structure, satisfies desirable properties of $ρ/μ$ approximations thereby leading to nominal deterministic finite state machine models th…
We investigate the property for an input-output system to map unimodal inputs to unimodal outputs. As a first step, we analyse this property for linear time-invariant (LTI) systems, static nonlinearities, and interconnections of those. In particular, we show how unimodality is closely related to the concepts of positivity, monotonicity, and total positivity.
This paper presents necessary and sufficient characterizations of several notions of input to output stability. Similar Lyapunov characterizations have been found to play a key role in the analysis of the input to state stability property, and the results given here extend their validity to the case when the output, but not necessarily the entire internal state, is being regulated. The work is related to partial stability of differential equations (the particular case which arises when there are no external inputs).
In this paper the notions of non-uniform in time Robust Blobal Asymptotic Output Stability (RGAOS) and Input-to-Output Stability (IOS) for discrete-time systems are studied. Characterizations as well as links between these notions are provided. Particularly, it is shown that a discrete-time system with continuous dynamics satisfies the non-uniform in time IOS property if and only if the corresponding unforced system is non-uniformly in time RGAOS. Necessary and sufficient conditions for the solvability of the Robust Output Feedback Stabilization (ROFS) problem are also given.
Symmetry groups of PDEs allow to transform solutions continuously into other solutions. In this paper, we use this property for the observability analysis of nonlinear PDEs with input and output. Based on a differential-geometric representation of the nonlinear system, we derive conditions for the existence of special symmetry groups that do not change the trajectories of the input and the output. If such a symmetry group exists, every solution can be transformed into other solutions with the same input and output trajectories but different initial conditions, and this property can be used to …
This chapter presents an approach to embed the input/state/output constraints in a unified manner into the trajectory design for differentially flat systems. To that purpose, we specialize the flat outputs (or the reference trajectories) as Bezier curves. Using the flatness property, the system's inputs/states can be expressed as a combination of Bezier curved flat outputs and their derivatives. Consequently, we explicitly obtain the expressions of the control points of the inputs/states Bezier curves as a combination of the control points of the flat outputs. By applying desired constraints t…
This paper is concerned with the local output feedback stabilization of a nonlinear Kuramoto-Sivashinsky equation. The control is located at the boundary of the domain while the measurement is selected as a Neumann trace. This choice of system output requires the study of the system trajectories in $H^2$-norm. Moreover, the choice of the actuation/sensing scheme is discussed and adapted in function of the parameters of the plant in order to avoid the possible loss of controllability/observability property of certain eigenvalues of the underlying operator. This leads in certain cases to a multi…
