Some results on simultaneous stabilization with multiple domains of stability
This paper considers the problem of simultaneous stabilization in the case where each plant has a different domain of stability associated with it. Specifically, it is supposed that there are given plants \(P_ 0,P_ 1,...,P_ r\) together with domains of stability \(D_ 0,D_ 1,...,D_ r\), and the objective is to find a common controller C such that the poles of the closed-loop transfer matrix \[ H(P_ i,C)=\left[ \begin{matrix} (I+PC)^{-1}\\ C(I+PC)^{-1}\end{matrix} \begin{matrix} -P(I+CP)^{-1}\\ (I+CP)^{-1}\end{matrix} \right] \] are all inside the corresponding domain of stability \(D_ i\) for \(i=0,...,r\). This is a more realistic formulation of the problem of preserving system stability in the event of sensor or actuator failures. Let \(M(S_ i)\) denote the set of matrices with elements in \(S_ i\) where \(S_ i\) denotes the set of proper rational functions whose poles all lie in \(D_ i\). Each plant \(P_ i\) has a doubly coprime factorization (dcf) such that \[ (2.1)\quad P_ i=N_ iD_ i^{-1}=\tilde D_ i^{-1}\tilde N_ i \] \[ (2.2)\quad \left[ \begin{matrix} Y_ i\\ -\tilde N_ i\end{matrix} \begin{matrix} X_ i\\ \tilde D_ i\end{matrix} \right]\left[ \begin{matrix} D_ i\\ N_ i\end{matrix} \begin{matrix} -\tilde X_ i\\ \tilde Y_ i\end{matrix} \right]=I \] where all eight matrices \(N_ i\), \(D_ i\), \(\tilde N_ i\), \(\tilde D_ i\), \(X_ i\), \(Y_ i\), \(\tilde X_ i\), \(\tilde Y_ i\) belong to the set \(M(S_ i)\). Suppose that one of the domains is a subset of the rest. Then, the following result is obtained. Theorem 2.1. Given the plants \(P_ 0,...,P_ r\), choose dcfs over \(S_ i\) for the plant \(P_ i\) for each i, as in (2.1)-(2.2), and define \[ \left[ \begin{matrix} A_ i\\ B_ i\end{matrix} \right]=\left[ \begin{matrix} Y_ 0\\ -\tilde N_ 0\end{matrix} \begin{matrix} X_ 0\\ \tilde D_ 0\end{matrix} \right]\left[ \begin{matrix} D_ i\\ N_ i\end{matrix} \right]. \] Then, there exists a controller C such that \(H(P_ i,C)\in M(S_ i)\) for \(i=0,...,r\) if and only if there exists an \(R_ 0\in M(S_ 0)\) such that \(A_ i+R_ 0B_ i\in {\mathcal U}(S_ i)\) for \(i=1,...,r\), where \(U(S_ i)\) denotes the set of unimodular matrices over \(S_ i.\) Section 3 considers the case of two plants \(P_ 0\) and \(P_ 1\) with \(D_ 0\) a subset of \(D_ 1\). The following result is established: the two plants can be simultaneously stabilized if and only if they can be simultaneously stabilized with respect to the larger of the two regions.
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