Reachability index of the 2D general models (Q2570206)

A 2D general model \[ x_{i+1,j+1}=A_0x_{i,j}+A_1x_{i+1,j}+A_2x_{i,j+1}+B_0u_{i,j}+B_1u_{i+1,j}+B_2u_{i,j+1} \] (with \(x_{i,j}\in\mathbb R^n\), \(u_{i,j}\in\mathbb R^m\)) is called positive if the components of all state \(x_{i,j}\) are nonnegative provided that the inputs \(u_{i,j}\) and the boundary conditions \(x_{i,0},x_{0,j}\) have nonnegative components. The index of reachability of a state \(x_f\) is defined as \(h + k\), provided that there exists a sequence of inputs which allows to reach \(x_f\) at \(i = h\), \(j = k\) starting with zero boundary conditions at \(i = 0\), \(j = 0\). For reachable positive 2D general models, the author proves that the upper bound for the index of reachabilty is \(2(n + 1)\).