A System-Level Approach to Controller Synthesis

DOI10.1109/TAC.2018.2890753MaRDI QIDQ5211160zbMATH OpenOpenAlexWikidataFDO

Authors Yuh-Shyang Wang, Nikolai Matni, John C. Doyle

Publication date 28 January 2020

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1610.04815

Mathematics Subject Classification ID

General systems (93A10) Design techniques (robust design, computer-aided design, etc.) (93B51) Linear systems in control theory (93C05)

Abstract: Biological and advanced cyberphysical control systems often have limited, sparse, uncertain, and distributed communication and computing in addition to sensing and actuation. Fortunately, the corresponding plants and performance requirements are also sparse and structured, and this must be exploited to make constrained controller design feasible and tractable. We introduce a new "system level" (SL) approach involving three complementary SL elements. System Level Parameterizations (SLPs) generalize state space and Youla parameterizations of all stabilizing controllers and the responses they achieve, and combine with System Level Constraints (SLCs) to parameterize the largest known class of constrained stabilizing controllers that admit a convex characterization, generalizing quadratic invariance (QI). SLPs also lead to a generalization of detectability and stabilizability, suggesting the existence of a rich separation structure, that when combined with SLCs, is naturally applicable to structurally constrained controllers and systems. We further provide a catalog of useful SLCs, most importantly including sparsity, delay, and locality constraints on both communication and computing internal to the controller, and external system performance. The resulting System Level Synthesis (SLS) problems that arise define the broadest known class of constrained optimal control problems that can be solved using convex programming. An example illustrates how this system level approach can systematically explore tradeoffs in controller performance, robustness, and synthesis/implementation complexity.

Cited in

(18)

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• Penalized semidefinite programming for quadratically-constrained quadratic optimization
• System-level, input-output and new parameterizations of stabilizing controllers, and their numerical computation
• On the sample complexity of the linear quadratic regulator
• Parameter space optimization towards integrated mechatronic design for uncertain systems with generalized feedback constraints
• Modular control under privacy protection: fundamental trade-offs
• Deriving Real-Time Action Systems Controllers from Multiscale System Specifications
• Localized stability certificates for spatially distributed systems over sparse proximity graphs
• Efficient learning of distributed linear-quadratic control policies
• Controller design via the synthesis equation
• Controller synthesis made real: reach-avoid specifications and linear dynamics
• Analysis of the optimization landscape of Linear Quadratic Gaussian (LQG) control
• Near-Optimal Distributed Linear-Quadratic Regulator for Networked Systems
• Regret optimal control for uncertain stochastic systems
• Closed-loop identification of stabilized models using dual input-output parameterization
• Linear quadratic control and estimation synthesis for multi-agent systems with application to formation flight
• On the sample complexity of observers for unknown linear systems with biased dynamics estimations
• Network-realised model predictive control. I: NRF-enabled closed-loop decomposition

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