Necessary and sufficient condition in Lyapunov robust control: Multi- input case

DOI10.1007/BF00940529MaRDI QIDQ1823906zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 1990

Published in Journal of Optimization Theory and Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/bf00940529

zbMATH Keywords

canonical controllerHurwitzlinear uncertain systemsLyapunov equationrobust controllerstime-invariant

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Linear systems in control theory (93C05) Multivariable systems, multidimensional control systems (93C35) Model systems in control theory (93C99) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Review text

We consider a linear time-invariant finite-dimensional system \(\dot x=Ax+Bu\) with multi-input u, in which the matrices A and B are in canonical controller form. We assume that the system is controllable and B has rank m. We study the Lyapunov equation \(PA+A^ TP+Q=0\), with \(Q>0\), and investigate the properties that P must satisfy in order that the canonical controller matrix A be Hurwitz. We show that, for the matrix A being Hurwitz, it is necessary and sufficient that \(B^ TPB>0\) and that the determinant of \(B^ TPW\) be Hurwitz, where \(W=block\) \(diag[w_ 1,...,w_ m]\), with element \(w_ i=[s^{k_ i-1},s^{k_ i-2},...,s,1]^ T\); here, the symbols \(k_ i\), \(i=1,2,...,m\), denote the Kronecker invariants with respect to the pair \(\{\) A,B\(\}\). This result has application in designing robust controllers for linear uncertain systems.

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Cites work

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Cited in

(2)

• A necessary and sufficient condition in Lyapunov robust control
• On the robustness of linear stabilizing feedback control for linear uncertain systems: Multi-input case

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