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{b.sulikowski, w.paszke}@issi.uz.zgora.pl
Institute of Control and Computation Engineering
University of Zielona Góra, POLAND
lim xk = 0, ∀x0 6= 0
k→∞
Stability
The following statements are equivalent:
I The system (1) is asymptotically stable.
I There exists a quadratic Lyapunov function
V (x) := x T Px > 0, P ∈ Sn
Remarks
V (x) := x T Px > 0, ∀x 6= 0 ⇒ P > 0
T Px
V (xk+1 ) = xk+1 T T
k+1 = xk A PAxk
therefore
V (xk+1 ) − V (xk ) = xkT AT PAxk − xkT Pxk
V (xk+1 ) − V (xk ) = xkT AT PA − P xk
finally
V (xk+1 ) − V (xk ) < 0 if, and only if AT PA − P < 0
P > 0, AT PA − P < 0
is feasible
Note that there exist methods which allow us to solve the stability
problem by direct and more effective methods, e.g.
I compute the eigenvalues of the matrix A
I solve the Lyapunov equality
P > 0, AT PA − P = −I
F(x) := F0 + x1 F1 + · · · + xn Fn < 0
where
I x = (x1 , . . . , xn ) - vector of unknown scalar entries (decision
variables)
I F0 , . . . , Fn - known symmetric matrices
I < 0’ - negative definiteness (in many publications ≺ 0 for the
matrix notation is used instead of < 0 - depends on you!)
To confirm that the feasibility set represented by LMI is the convex set,
the following inequality is now considered
1 0 x1 1 0 0 0 0 1 0 0 0
0 1 x2 = 0 1 0 +x1 0 0 0 +x2 0 0 1 > 0
x1 x 2 1 0 0 1 1 0 0 0 1 0
| {z } | {z } | {z } | {z }
F(x) F0 F1 F2
In
pthis case,
we see that the feasible set is the interior of the unit disc
2 2
x1 +x2 ≤ 1 ,
x2
0.5
0.5 x1
0.5
0.5 x1
• Basic idea
I Construct a barrier function φ(x) that is well I unconstrained optimization problem
defined for strict feasible x and is −ε (where
−∞ < ε 0) only at the optimal x = x ∗ e.g. min f (x) = min f0 (x) + µφ(x)
F (x)11 · · · F (x)1k
mk (x) =det
.. .. ..
. . .
F (x)k1 · · · F (x)kk
F (x)11 · · · F (x)1n
mn (x) =det(F(x)) = det
.. .. ..
. . .
F (x)n1 · · · F (x)kn
where F (x)kl denotes the element on k-th row and l-th column of
F(x).
AT PA − P < 0
or
− AT PA + P > 0 (2)
is satisfied. Since P = diag(x1 , x2 ) and the matrix A is given by
a11 a12 0.4942 0.5706
A= =
a21 a22 0.1586 0.4662
The solution of the LMI (2) is equivalent to the solution of the set
of inequalities
2 2
m1 (x) = − x1 (a11 − 1) − x2 a21 = 0.75576636x1 − 0.02515396x2 > 0
2 2
m2 (x) = − x1 (a11 − 1) − x2 a21 = 0.32558436x1 + 0.78265756x2 > 0
2 2 2 2
m3 (x) = −x1 (a11 − 1) − x2 a21 −x1 a12 − x2 (a22 − 1)
−(−x1 a12 a11 − x2 a22 a21)(−x1 a12 a11 − x2 a22 a21 )
= − 0.32558436x12 + 0.5579956166x1 x2 − 0.02515396x22 > 0
(3)
with
x1 > 0 and x2 > 0 (4)
F = {x ∈ Rn : mi (x) ≥ 0, i = 1, . . . , n}
Hence the inequalities (3) and (4) describe the convex set
p2
x2
p1
x1
These results clearly show that in the case of the point (p1 not all
principal minors are positive, hence we conclude again that this
point does not solve the LMI).
Due to the fact that LMI is defined in the space of its decision
variables (x ∈ RM ) it is possible to present the feasibility set as a
geometrical shape in this space.
Figure: The solutions for the first (a) and second (b) degree minors
a) b)
Figure: The solutions for the third (a) degree minors and the feasibility
region for the considered LMI (b)
uk = Kxk
xk+1 = (A + BK)xk
where
I x = (x1 , . . . , xn ), x ∈ Rn and y = (x1 , . . . , ym ), y ∈ Rm are
the variables
I symmetric matrices F0 , Fi , i = 1, . . . , n, Gj , j = 1, . . . , m and
Hij , i = 1, . . . , n, j = 1, . . . , m are given data.
Remark
Unfortunately, BMIs are in general highly non-convex optimization
problems, which can have multiple local solutions, hence solving a
general BMI was shown to be N P-hard problem
4.5
3.5
3
y
2.5
p1
2
1.5
p3
1
0.5
p2
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Obviously, the point in the half way between the two values, i.e.
1 1
p3 = (0.2, 2) + (4, 0.2) = (2.1, 1.1)
2 2
does not satisfy (5).
Bartlomiej Sulikowski, Wojciech Paszke Linear Matrix Inequalities in Control
Can BMIs be written in the form of LMIs?
x2 (−13−5x1 +x2 ) x2 0 90
x2 x1 0 >0
0 0 x1 (−13−5x1 +x2 )−x2 80
x2
70
−1 + x1 1
5 1 >0
1 −1 − 18 x1 + x
18 2
40
1 2 3 4 5 6 7 8 9 10
x1
where
D C 0 I A B 0 I
=
B A I 0 C D I 0
In the case of the Lyapunov inequalities, the fact that the nice
inequalities previously obtained are functions of X := P−1 ,and not P,
suggests that we might start by rewriting the inequalities in terms of X.
Quadratic but convex inequality can be converted into the LMI form
using the Schur complement formula given by the following Lemma.
C + BT A−1 B < 0
if and only if
BT
−A B C
U= <0 or, equivalently, U= <0
BT C B −A
Consider a controller design for discrete LRPs. It can be shown that the
following LMI gives sufficient condition for stability along the pass
and
K1 K2
K=
K1 K2
is the matrix to be found.
−W−1
Φ + RK
<0
ΦT + KT RT −W
The above form is still nonlinear due to the occurrence of terms W−1
and W (hence it can be stated in terms of BMI). To overcome this
problem, introduce the substitution P = W−1 and then multiply the
result from the left and the right by diag (I, P) to obtain
−P ΦP + RN
<0 (7)
PΦT + NT RT −P
HF E + ET F T HT (8)
F T F ≤ I or equivalently kF k ≤ 1
Inequalities which consist of (8) can be transformed into the LMI with
the following Lemma
Lemma
Let H, E be given real matrices of appropriate dimensions and F
satisfy F T F ≤ I. Then for any > 0 the following holds
1
HF E + ET F T HT ≤ HHT + ET E
−1 ET F T F E + HHT ≥ HF E + ET F T HT
kF k ≤ 1 ⇔ λmax (F T F ) ≤ 1 ⇔ F T F ≥ I
hence
1
HHT + ET E ≥ −1 ET F T F E + HHT ≥ HF E + ET F T HT
and the proof is complete.
Bartlomiej Sulikowski, Wojciech Paszke Linear Matrix Inequalities in Control
Elimination of variables
Ψ + PT ΘT Q + QT ΘP < 0
WT T
P ΨW P < 0 and W Q ΨW Q < 0
Note that all computations have been performed with Lmi Control
Toolbox 1.0.8 under Matlab 6.5. The Matlab-files have been run
on a PC with AMD Duron 600 MHz CPU and 128MB RAM.
I Controller design:
The closed loop for the discrete case uk = Kxk (K is the
controller to be designed)
I The stabilization condition for the discrete case
(A + BK)T P(A + BK) − P < 0, P > 0
not the LMI condition since the variable matrices are
multiplied
Bartlomiej Sulikowski, Wojciech Paszke Linear Matrix Inequalities in Control
It requires some operations
AT + K T B T
−P
< 0, P > 0
A + BK −P −1
QAT + QK T B T
−Q
< 0, Q > 0
AQ + BKQ −Q
QAT + N T B T
−Q
< 0, Q > 0
AQ + BN −Q
P −1 (A + BK )T + (A + BK )P −1 < 0, P −1 > 0
3. set Q = P −1
QA + N T B T + AQ + BN < 0, Q > 0
The LMI software can solve the LMI problems formulated in three
different forms:
I feasibility problem,
I linear optimization problem,
I generalized eigenvalue minimization problem.
Definition
Minimize a linear function c T x (x = (x1 , . . . , xn )), where c ∈ Rn is a
given vector, subject to an LMI constraint (9) or determine that the
constraint is infeasible. Thus the problem can be written as
min c T x
subject to F(x) > 0
min λ
subject to λI − F(x) > 0
where C(x) < D(x) and A(x) < λB(x) denote set of LMIs. It is
necessary to distinguish between the standard LMI constraint, i.e.
C(x) < D(x)
and the LMI involving λ (called the linear-fractional LMI constraint)
A(x) < λB(x)
which is quasi-convex with respect to the parameters x and λ. However,
this problem can be solved by similar techniques as those for previous
problems.Bartlomiej Sulikowski, Wojciech Paszke Linear Matrix Inequalities in Control
The stability margins
K = NQ −1
Remark
Note that (1 + q) is a scalar, so for any matrix, say T, holds
(1 + q)T = T(1 + q)
To get the GEVP condition, the follow the steps (on the next slide)
I
I write it as the GEVP
min λ s.t.
" # " #
0 QAT + N T B T Q −QAT − N T B T
< λ
−AQ − BN
AQ + BN 0 Q
" #
−Q QAT + N T B T
<0
−Q
AQ + BN
I K = NQ −1 , q = λ−1
I note that the additional constraint is just the stability condition in
this case
Bartlomiej Sulikowski, Wojciech Paszke Linear Matrix Inequalities in Control
D-stability (Poles placement)
References
I LMI MATLAB Control toolbox manual
I M. Chilali and P. Gahinet, “H∞ design with pole placement
constraints: an LMI approach,” IEEE Transactions on
Automatic Control, vol. 41, no. 3, pp. 358–367, 1996.
I M. Chilali, P. Gahinet, and P. Apkarian, “Robust pole
placement in LMI regions,” IEEE Transactions on Automatic
Control, vol. 44, no. 12, pp. 2257–2270, 1999.
I D. Henrion, M. Sebek, and V. Kucera, “Robust pole
placement for second-order systems: an lmi approach,”
Proceedings of the IFAC Symposium on Robust Control
Design, 2003. LAAS-CNRS Research Report No. 02324, July
2002, Submitted to Kybernetika, October 2003.
I others
fD (z) = L + zM + z̄M T
Note, that it is now easy to find the LMI condition which checks, if
matrix eigenvalues lay inside chosen region - weak? Yes, but ...
Instead of A write it in the closed loop configuration i.e. A + BK - we
get the way to drive A to have eigenvalues inside chosen region using
controller K- strong enough!
So, the procedure is as follows
I choose D
I write it as LMI region (%)
I write ($)
I use some linear algebra operations to get programmable LMI
I solve it using your favorite software
1. choose ellipse
−2a −2g 0 (1 + a/b) 0 (1 − a/b)
+z + z̄
−2g −2a (1 − a/b) 0 (1 + a/b) 0
= L + zM + z̄M T < 0
2. set A = A + BK
3. condition for the closed loop system
L ⊗ X + M ⊗ (X A) + M T ⊗ (AT X ) < 0
which can be rewritten as
−2aX (∗)
<0
−2gX + (1 + ba )AT X + (1 − ba )X A −2aX
4. set A = A + BK to obtain
−2aX (∗)
<0
−2gX + (1 + ba )(A + BK )T X + (1 − ba )X (A + BK ) −2aX
not LMI - again X and K multiplied
Bartlomiej Sulikowski, Wojciech Paszke Linear Matrix Inequalities in Control
5 Pre and post multiply it by diag (X−1 , X−1 ) and set Y = X −1
to obtain
−2aY (∗)
<0
−2gY +(1+ ba )YAT +YK T B T +(1− ba )AY +BKY −2aY
Robust Stability
The DTLTI uncertain system is said to be robustly stable if it is
asymptotically stable for all A ∈ A.
Problem
The set of all (discrete-time) stable matrices is not a convex set.
Let us consider a set formed from 2 vertices and assume that they are
0.5 2 0.5 0
A1 = , A2 =
0 0.5 2 0.5
Based on well known fact that stability in the discrete case is guaranteed
if and only if all eigenvalues of a system matrix lie in the interior of the
unit circle, it can be seen that the matrices A1 and A2 are stable
(λmax (A1 ) = 0.5 and λmax (A2 ) = 0.5). However, a convex combination
yields
0.5 1
A = 0.5A1 + 0.5A2 =
1 0.5
and λmax (A) = 1.5. This means that A is unstable.
M = M0 + ∆M = M0 + HF E
FT F ≤ I
FT F ≤ I
M4
M3
M2 M1
Figure: A polytope
p1
p3
p3
p1
p3 p p2
2 p2
p1 M4
p1
M3 M2
p2 p2 p2
Bartlomiej Sulikowski, Wojciech Paszke Linear Matrix Inequalities in Control
Norm-bounded uncertainty
A B
The system plant Φ :=
C D
∆A ∆B H1
Uncertainties ∆Φ := = F (k) E1 E2 and
∆C ∆D H2
||F (k)|| < 1
The uncertain system plant matrix Φ + ∆Φ
Discrete case - controller design (so we want to get the condition for computing K )
I For simplicity take F (k) = F - no loose of generalization
I The Lyapunov inequality for the closed loop uncertain system
I Schur complement
I write it as
AT + K T B T
T
E1 + K T E2T
−P T
0 H1T
−1 + F
A + BK −P 0
0
+ F E1 + E2 K 0 < 0, P > 0
H1
AT + K T B T E1T + K T E2T
−P
+ −1
E 1 + E2 K 0
A + BK −P −1 0
0
0 H1T
+ < 0, P > 0, > 0
H1
AT + K T B T
T
E1 + K T E2T
−P −1
H1T
+ I E1 + E2 K < 0, P > 0, > 0
A + BK −P −1 H1
AT + K T B T E1T + K T E2T
−P
A + BK −P −1 H1 < 0, P > 0, > 0
E1 + E2 K H1T −I