Structural properties of positive periodic discrete-time linear systems: Canonical forms (Q1827042)

Positive \(N\)-periodic discrete-time linear systems are considered, having the state-space representation \[ x(k+1)=F(k)x(k)+G(k)u(k) \quad k\in\mathbb{Z}_{+} \] where \(F(k)\) and \(G(k)\) are periodic \(n\times n\) and \(n\times m\) matrices of period \(N\in\mathbb{N}\) with nonnegative entries, \(x(k)\in\mathbb{R}^{n}_{+}\) is the nonnegative state vector and \(u(k)\in\mathbb{R}^{m}_{+}\) is the nonnegative input vector. The positive invariant cyclically augmented system \((F_{e},G_{e})\) is used, where \(F_{e}=\left[\begin{smallmatrix} 0&F(0)\\ F&0\end{smallmatrix}\right]\), \(F=\text{diag}[F(1),\dots,F(N-1)]\) and \(G_{e}=\text{diag}[G(0),G(1),\dots,G(N-1)]\). An identification of the directed graph corresponding to the matrix \(F_{e}\) and the directed graphs of the state matrices \(\{F(j)\}^{N}_{j=0}\) introduces the concepts of colored vertices and colored union of directed graphs. In order to characterize the reachability property of the positive \(N\)-periodic systems, a partition is constructed in the colored union of directed graphs. Necessary and sufficient conditions for the reachability and complete controllability properties of the system are obtained by using this partition. The aim of the paper is to construct canonical forms for the reachability and complete controllability properties. By using a relabelling of the vertices taking color into account, the authors determine the permutation matrices \(P(j)\) and \(Q(j)\), \(j=0,1,\dots,N-1\), such that the similar reachable positive \(N\)-periodic system \((\widehat{F}(\cdot),\widehat{G}(\cdot))\) where \(\widehat{F}(j)=P^{T}(j)F(j)P(j-1),\;\widehat{G}(j)=P^{T}(j)G(j)Q(j)\) has a special structure associated to the partition of the colored union of directed graphs. It is shown that a system is reachable if and only if there exist two \(N\)-periodic collections of permutation matrices \(\{P(j)\), \(j\in\mathbb{Z}_{+}\}\) and \(\{Q(j)\), \(j\in\mathbb{Z}_{+}\}\) such that the corresponding matrices \(\widehat{F}(\cdot)\) and \(\widehat{G}(\cdot)\) have this canonical form. Similar canonical forms and similar results are derived for completely controllable systems. Many examples illustrate the concepts and the presented methods.