Condition and algorithm for simultaneous stabilization of linear plants
The authors study the simultaneous stabilization of four linear plants. Two polynomials \(n(s)\) and \(d(s)\) are said to be \(C^+\) coprime if they have no common roots in the closed right-half complex plane.NEWLINENEWLINENEWLINEA first main result is the following. Given four plants \(p_i(s)= n_i(s)/d_i(s)\), \(i= 1,2,3,4\), write NEWLINE\[NEWLINE\begin{aligned} F_1 &= n_3(d_2 n_4- d_4 n_2),\quad F_1'= d_3(d_2 n_4- d_4 n_2),\\ F_2 &= n_4(d_3 n_4- d_1 n_3),\quad F_2'= d_4(d_3 n_1- d_1 n_3),\\ F_3 &= n_1(d_4 n_2- d_2 n_4),\quad F'_3= d_1(d_4 n_2- d_2 n_4),\\ F_4 &= n_2(d_1 n_3- d_3 n_1),\quad F_4'= d_2(d_1 n_3- d_3n_1),\end{aligned}NEWLINE\]NEWLINE where \(F_i(s)\) and \(F_{i+1}(s)\), \(i= 1,2,3,4\), and \(F_i(s)\) and \(F_{i+1}'(s)\), \(i= 1,2,3,4\), are \(C^+\) coprime (\(F_5(s)\) and \(F_5'(s)\) should be read as \(F_1(s)\) and \(F_1'(s)\), respectively). Then the plants \(p_i(s)\), \(i= 1,2,3,4\), can be simultaneously stabilized by a single controller if and only if there exist four stable polynomials \(H_i(s)\), \(i= 1,2,3,4\), simultaneously satisfying the following two polynomial equations NEWLINE\[NEWLINEF_1 H_1+ F_2 H_2+ F_3 H_3+ F_4 H_4= 0,\qquad F_1' H_1+ F_2' H_2+ F_3' H_3+ F_4' H_4= 0.NEWLINE\]NEWLINE In particular, a simultaneous stabilization controller \(c(s)\) may be taken as NEWLINE\[NEWLINEc(s)= {d_2 H_4- d_4 H_2\over n_4 H_2- n_2 H_4}= {d_3 H_1- d_1 H_3\over n_4 H_3- n_3 H_1}.NEWLINE\]NEWLINE Based on some auxiliary propositions, the above result can be used to prove the simultaneous stabilization in groups of three plants. The plants \(p_i(s)= n_i(s)/d_i(s)\), \(i= 1,2,3\), are said to have the strong parity interlacing property if there exist \(\varepsilon_j=+1\) or \(-1\), \(j= 1,2,3\), such that NEWLINE\[NEWLINE\varepsilon_1 \varepsilon_2 E_1(\gamma_i) E_2(\gamma_i)< 0,\quad \varepsilon_1 \varepsilon_3 E_1(\beta_i) E_3(\beta_i)< 0,\quad \varepsilon_2 \varepsilon_3 E_2(\alpha_i) E_3(\alpha_i)< 0,NEWLINE\]NEWLINE where \(E_1(s)= n_1(s) d_2(s)- n_2(s) d_1(s)\), \(E_2(s)= n_2(s) d_3(s)- n_3(s) d_2(s)\), \(E_3(s)= n_3(s) d_1(s)- n_1(s) d_3(s)\), and \(\alpha_i\), \(\beta_i\) and \(\gamma_i\) are, respectively, the real \(C^+\) roots of \(E_1(s)\), \(E_2(s)\) and \(E_3(s)\).NEWLINENEWLINENEWLINEGiven three plants \(p_i(s)= n_i(s)/d_i(s)\), \(i= 1,2,3\), which have the strong parity interlacing property and satisfy \(E_1(s)\), \(E_2(s)\) and \(E_3(s)\) are \(C^+\) coprime, two facts are stated:NEWLINENEWLINENEWLINE1. If \(n_1(s)\), \(n_3(s)\) are \(C^+\) coprime, then two controllers \(c_1(s)\) and \(c_2(s)\), which have the same denominator, can be designed such that \(c_1(s)\) simultaneously stabilizes \(p_1(s)\) and \(p_3(s)\), and \(c_2(s)\) stabilizes \(p_2(s)\).NEWLINENEWLINENEWLINE2. If \(d_1(s)\), \(d_3(s)\) are \(C^+\) coprime, then two controllers, \(c_1(s)\) and \(c_2(s)\), which have the same numerator, can be designed such that \(c_1(s)\) simultaneously stabilizes \(p_1(s)\) and \(p_3(s)\), and \(c_2(s)\) stabilizes \(p_2(s)\).NEWLINENEWLINENEWLINEA controller design algorithm for the simultaneous stabilization of three plants is also provided.
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