Automatica 42 (2006) 1507 – 1514

www.elsevier.com/locate/automatica

Brief paper
H2 and mixed H2 /H∞ control of two-dimensional systems
in Roesser model夡
Ran Yang a , Lihua Xie b , Cishen Zhang b,∗
a School of Information Science and Technology, Sun Yat-Sen University, Guangzhou 510275, PR China
b School of Electrical and Electronic Engineering, BLK S2, Nanyang Technological University, Singapore 639798, Singapore

Received 8 December 2003; received in revised form 7 February 2006; accepted 7 April 2006
Available online 9 June 2006

Abstract
The H2 performance specification for one-dimensional (1-D) systems has been known to be analytically and practically meaningful and
widely applied to the analysis and design of control and signal processing systems. However, there has been few results on the analysis
and design of two-dimensional (2-D) systems using the H2 performance specification due to the structural and dynamical complexity of 2-D
systems. In this paper, we extend the classical definition of the H2 performance to 2-D systems and present a sufficient condition for evaluation
of the H2 performance of 2-D systems in Roesser model. Using this condition and the existing bounded real lemma, we develop systematic
design methods for H2 and mixed H2 /H∞ control of 2-D systems, and an application of the controller design methods to the control problem
of a metal rolling process is demonstrated in this paper.
䉷 2006 Elsevier Ltd. All rights reserved.

Keywords: Two-dimensional systems; H2 control; H2 /H∞ control; Roesser model; Linear matrix inequality

1. Introduction equation which may represent electrostatics, Newtonian gravi-

Many processes in practical applications are 2-D systems.
For example, repetitive processes in modern industry have an
inherent 2-D dynamical structure where one dimension is the
time horizon and the other is the progress of iteration (Roberts,
2002; Rogers & Owens, 1992; Yamada, Xu, & Saito, 1999).
Furthermore, many 2-D physical processes such as 2-D spatial
systems and spatiotemporal systems are described by partial
differential equations (Kevorkian, 1993; Renardy & Rogers,
1992). One typical example is the wave equation, which arises
in many different fields, such as acoustics, electromagnetics,
fluid dynamics and even quantum mechanics and general rel-
ativity. Other examples are the heat equation, which describes
the temperature in a given region over time and the Poisson’s
夡 This paper was not presented at any IFAC meeting. This paper was rec-
ommended for publication in revised form by Associate Editor Siep Weiland
under the direction of Editor Roberto Tempo.
∗ Corresponding author. Tel.: +65 67904503; fax: +65 67920415.
E-mail addresses: yangran@mail.sysu.edu.cn (R. Yang),
elhxie@ntu.edu.sg (L. Xie), ecszhang@ntu.edu.sg (C. Zhang).
0005-1098/$ - see front matter 䉷 2006 Elsevier Ltd. All rights reserved.
doi:10.1016/j.automatica.2006.04.002
tation, static deflection of membranes, etc. Like the discretiza-
tion of 1-D continuous-time systems, 2-D processes in terms
of partial differential equations can be discretized by the dif-
ference operators with sufficiently small sampling period and
distance (Galkowski, 2000; Kaczorek, 1985; Tsai, Li, & Shieh,
2002), yielding discrete 2-D systems. These facts stimulate the
research on 2-D discrete systems (Du & Xie, 2002; Du, Xie, &
Zhang, 2001; Kaczorek, 1985; Li & Fadali, 1991; Lu & Lee,
1985; Roesser, 1975; Tsai et al., 2002; Tuan, Apkarian, Nguyen,
& Narikiyo, 2002). In the rest of this paper, we confine our at-
tention to 2-D discrete systems and call them, for simplicity,
2-D systems.
In the recent research, Du and Xie (2002) and Du et al.
(2001) developed a systematic approach to the solutions of H∞
control and filtering of 2-D systems in various system models.
The results in Du and Xie (2002) and Du et al. (2001) are based
on a bounded real lemma for 2-D systems and the solutions
are computed using a linear matrix inequality (LMI) technique.
In Tuan et al. (2002), a solution for mixed H2 /H∞ filtering
of 2-D systems is presented using the LMI technique, where
a generalized H2 norm is defined as the square of the peak
1508 R. Yang et al. / Automatica 42 (2006) 1507 – 1514

amplitude of the output when the total energy of the past inputs where  · 2 denotes the
2 norm of s. A 2-D signal in the
2 -
is no greater than unity. A study of the 2-D linear quadratic space is an energy bounded signal.
regulator (LQR) problem in Li and Fadali (1991) presented Roesser model for a 2-D system G : u → y is defined by
a design based on the solution of several canonical equations the following state equation:
of a Hamiltonian function. In Tsai et al. (2002) and Yamada
   h 
et al. (1999), the quadratic optimal control of a 2-D plant is x h (i + 1, j ) x (i, j )
reformulated into a 1-D optimal control problem where the = A + Bu(i, j ),
x v (i, j + 1) x v (i, j )
result is restricted to finite dimensional index at least in one
dimension.  
x h (i, j )
H2 optimal control for continuous and discrete time 1-D sys- y(i, j ) = C + Du(i, j ), (2)
x v (i, j )
tems is a classical problem in linear system theory. Its objective
is to minimize the energy of the system output when the sys-
tem is subject to a unit impulse input or, equivalently, a white where x h ∈ R nh , x v ∈ R nv , u ∈ R m and y ∈ R l are, respec-
noise input of unit variance. Because of this analytically and tively, the horizontal state, vertical state, input and the output
practically meaningful specification, the H2 problem and so- of the system, A, B, C and D are the system matrices with ap-
lution have been well studied and applied for several decades. propriate dimension.
However, the 1-D optimal control problem and its solution have Let Ek ∈ R m , 1
k
m denote the kth column of the m × m
not been systematically extended to the optimal control of 2-D identity matrix and
be the 2-D discrete time unit impulse
systems, because of the structural and dynamical complexity of signal satisfying
2-D systems which significantly differs from 1-D systems. So

far the existing result of optimal control of 2-D systems either 1 if i = 0, j = 0,
used a different definition of the problem, such as the gener-
(i, j ) =
0 otherwise.
alized H2 norm in Tuan et al. (2002), or restricted the range
of the 2-D system solution, such as the 1-D equivalent optimal Further let the impulse response of the 2-D system G, sub-
control solution in Tsai et al. (2002) and Yamada et al. (1999). ject to the zero boundary condition x h (−1, j ) = 0, x v (i, −1) =
In this paper, we consider linear discrete 2-D systems in 0, x h (0, 0) = 0, x v (0, 0) = 0, i, j 0 and the input u = Ek
,
Roesser model (Roesser, 1975). We will extend the definition of 1
k
m, be
the H2 performance specification for 1-D systems to 2-D sys-
tems and derive a sufficient condition for evaluation of the 2-D
system H2 performance in terms of LMIs. Using the condition gk = GE k
.
for the 2-D system H2 performance and the existing bounded
real lemma (Du & Xie, 2002; Du et al., 2001), we develop orig- If the 2-D system G is stable, its impulse response gk ∈
2 for
inal systematic methods for the design of the H2 and mixed 1
k
m. We can follow the standard definition of the H2 norm
H2 /H∞ controllers for 2-D systems in terms of LMIs. for 1-D systems to define the H2 norm of the 2-D system G as
Our solutions to the H2 and mixed H2 /H∞ can be effi-



ciently computed from a set of LMIs or parameterized LMIs.  m 
 ∞ 
 m  ∞
Applications of the design methods to a metal rolling process G2 =  gk 22 =  gkT (i, j )gk (i, j ). (3)
demonstrate the feasibility of the proposed design methods of k=1 k=1 i=0 j =0
the paper.
The rest of this paper is organized as follows. Section 2 Physically, the square of the H2 norm of the system represents
presents an evaluation of the H2 norm of 2-D systems in Roes- the amount of the system output energy when it is subject to
sor model. Section 3 formulates the H2 and mixed H2 /H∞ the unit impulse input or a Gaussian white noise input with unit
control problems dealt with in this paper. In Section 4, solutions variance. Like the definition of the H2 norm of 1-D systems, this
to the H2 and mixed H2 /H∞ control problems are presented, definition of the H2 norm of 2-D systems is also consistent with
respectively. An application of the controller design methods to the corresponding definition given in the frequency domain.
the control problem of a metal rolling process is demonstrated Now, consider that the 2-D system G in the Roesser model
in Section 5. (2) is subject to the input u = Ek
, 1
k
m. Under such an
input, let xkh (i, j ) and xkv (i, j ) denote the system horizontal
2. H2 norm of 2-D systems in Roesser model state and vertical state, respectively. Further, let
   
Let Z + be the set of nonnegative integers. A 2-D signal s with xkh (i, j ) xkh (i + 1, j )
s(i, j ) ∈ R n , i, j ∈ Z + is said to belong to the 2-D
2 -space if xk (i, j ) = v , xk1 (i, j ) = ,
xk (i, j ) xkv (i, j + 1)


 ∞
∞  and write the matrices B ∈ R (nh +nv )×m and D ∈ R l×m as
s2 =  s T (i, j )s(i, j ) < ∞, (1)
B = [B̃1 B̃2 . . . B̃m ] and D = [D̃1 D̃2 . . . D̃m ]. Under the
i=0 j =0
zero boundary condition, we can express the system impulse
 R. Yang et al. / Automatica 42 (2006) 1507 – 1514 1509

response gk , 1
k
m, as Using (8), (9) and (4), we can express the square of the H2
norm of the 2-D system G as
xk1 (i, j ) = Ax k (i, j ) + BE k
(i, j )
m 
 ∞ 
∞

B̃k if i = 0, j = 0, G22 = gkT (i, j )gk (i, j )
=
Ax k (i, j ) otherwise. k=1 i=0 j =0
⎛ ⎞
m
 ∞ 
 ∞
= ⎝D̃ Tk D̃k + xkT (i, j )C T Cx k (i, j )⎠
gk (i, j ) = Cx k (i, j ) + DE k
(i, j )
 k=1
⎛
i=0 j =0
D̃k if i = 0, j = 0,
= (4) m
 ∞ 
 ∞
Cx k (i, j ) otherwise. = ⎝D̃ Tk D̃k + xkT (i, j )C T Cx k (i, j )
k=1 i=0 j =0
We now present a sufficient condition for evaluation of the H2 ⎞
∞ 
 ∞
norm of the 2-D system in the Roessor model (2). +
Vk (i, j )⎠
i=0 j =0
Theorem 1. Given a positive scalar , the H2 norm of the 2- ∞ 
m  ∞

D system G in the form (2) with zero boundary condition is = xkT (i, j )(AT P A − P + C T C)xk (i, j )
bounded by , i.e. G2 < , if there exists a block-diagonal k=1 i=0 j =0
matrix P = diag{Ph , Pv } > 0, with Ph ∈ R nh ×nh and Pv ∈
+ trace(B P B + D T D).
T
R nv ×nv , such that

It follows immediately that G2 <  if (5) and (6) are satisfied.
AT P A + C T C − P < 0, (5) 

trace(B T P B + D T D) − 2 < 0. (6) We now introduce the definition of the H∞ norm of the 2-D
system G, denoted by G∞ , as
Proof. Using the matrix P = diag{Ph , Pv } > 0, we introduce
G∞ = sup Gu2 ,
u2
1

Vk (i, j ) = xk1 (i, j )T P x 1k (i, j ) − xk (i, j )T P x k (i, j ),
1
k
m.
under the system zero boundary condition. Physically, the H∞
norm of the system represents the worst case (maximum possi-
It can be verified that, for any integers qh , qv > 0, ble) energy gain between the input and the output. A bounded
real lemma for evaluation of the H∞ norm of the 2-D system
 qv
qh  qv
 in the Roesser model (2) is presented in Du and Xie (2002).
xkh (qh + 1, j )Ph xkh (qh + 1, j )
T

Vk (i, j ) =
i=0 j =0 j =0 Remark 1. Unlike the 1-D case, the result of Theorem 1 on
qh evaluation of the system H2 norm and the bounded real lemma
 in Du and Xie (2002) for evaluation of the system H∞ norm are
xkv (i, qv + 1)Pv xkv (i, qv + 1). (7)
T
+
i=0
only sufficient but not necessary conditions. This is similar to
the stability result of 2-D systems based on Lyapunov equation
without involving complex matrix variables which is in general
The existence of a diagonal positive definite solution P for (5)
only sufficient except for some special cases (Kaczorek, 1985;
implies that the 2-D system (2) is stable (Du & Xie, 2002) and
Lu & Lee, 1985). We note that a recent work (Bliman, 2002)
that xk ∈
2 . This together with (7) further implies
presented a necessary and sufficient condition for 2-D system
stability based on searching for an augmented system such that
∞ 
 ∞
a matrix inequality is satisfied. The result is numerically much

Vk (i, j ) = 0. (8) involved and is not clear if it can be extended for evaluation of
i=0 j =0 2-D system H2 performance.

On the other hand, we can use (4) to obtain 3. H2 and mixed H2 /H∞ control problems

 ∞
∞  ∞ 
 ∞ Consider a 2-D plant in the following Roesser model:

Vk (i, j ) = B̃ Tk P B̃k + xk (i, j )
   h 
i=0 j =0 i=0 j =0 x h (i + 1, j ) x (i, j )
= A + Bw(i, j ) + B3 u(i, j ),
x v (i, j + 1) x v (i, j )
× (AT P A − P )xk (i, j ). (9)
1510 R. Yang et al. / Automatica 42 (2006) 1507 – 1514

  are the horizontal state and vertical state of the closed-loop

x h (i, j )
z(i, j ) = C1 v + D1 w(i, j ) + D13 u(i, j ), system, respectively, and
x (i, j )
 
 h  A + B 3 D C C 2 B 3 CC
x (i, j ) Ā =  T ,
y(i, j ) = C2 v + D2 w(i, j ), (10) BC C2 AC
x (i, j )
⎡ ⎤
I 0 0 0
where x h ∈ R nh , x v ∈ R nv , u ∈ R m and y ∈ R l are, respec- ⎢0 0 I 0⎥
tively, the horizontal state, vertical state, control input and mea- =⎣ ⎦,
0 I 0 0
surement output of the plant, z ∈ R p is the controlled output, 0 0 0 I
w = [w1T w2T ]T is the system input where w1 ∈ R m1 is assumed
 
to be a white noise with unit variance, and w2 ∈ R m2 is as- B1 + B3 DC D21
sumed to be energy bounded, i.e. w2 ∈
2 . And B = [B1 B2 ], B̄1 =  ,
BC D21
D1 = [D11 D12 ], D2 = [D21 D22 ]. A, B1 , B2 , B3 , C1 , C2 , D11 ,  
B2 + B3 DC D22
D12 , D13 , D21 and D22 are real constant matrices of the plant B̄2 =  ,
BC D22
of appropriate dimension.
Introduce the 2-D output feedback controller for the plant in
C̄ = [C1 + D13 DC C2 D13 CC ]T ,
the following Roesser model:
 h   h  D̄1 = D11 + D13 DC D21 , D̄2 = D12 + D13 DC D22 .
xc (i + 1, j ) xc (i, j )
= A C + BC y(i, j ),
xcv (i, j + 1) xcv (i, j ) Let T1 : w1  → z denote the closed-loop system subject to
 h  the white noise w1 with w2 = 0 and T2 : w2  → z denote the
xc (i, j )
u(i, j ) = CC v + DC y(i, j ), (11) closed-loop system subject to the energy bounded disturbance
xc (i, j )
input w2 with w1 = 0.
where xch ∈ R nh , xcv ∈ R nv are, respectively, the horizontal We state the 2-D H2 control problem as: for a given constant
state and vertical state of the controller, AC ∈ R (nh +nv )×(nh +nv ) , 1 > 0, find, if exists, a 2-D output feedback controller of the
BC ∈ R (nh +nv )×l , CC ∈ R m×(nh +nv ) and DC ∈ R m×l are real form (11) for the 2-D plant (10) such that the closed-loop system
constant matrices of the controller. Note that we consider a full is stable and has the specified H2 performance T1 2 < 1 .
order output feedback controller where the state dimension of We further state the mixed H2 /H∞ control problem as: for
the controller is identical to that of the plant. given constants 1 , 2 > 0, find, if exists, a 2-D output feedback
Let controller of the form (11) for the 2-D plant (10) such that
  the closed-loop system is stable and has the specified mixed
w1 H2 /H∞ performance T1 2 < 1 and T2 ∞ < 2 .
T : → z
w2
denote the closed-loop system of the plant (10) and controller 4. Solution for the H2 and mixed H2 /H∞ control problems
(11). The closed-loop system can be written in the following
Roesser model. Using the result of Theorem 1, we present a solution for the
 h   h  2-D H2 control problem in the following theorem. The proof
x̄ (i + 1, j ) x̄ (i, j ) of this theorem is omitted as it is a simplified and special case
= Ā + B̄1 w1 (i, j ) + B̄2 w2 (i, j ),
x̄ v (i, j + 1) x̄ v (i, j ) of the theorem on the mixed H2 /H∞ 2-D control that follows.
 h 
x̄ (i, j ) Theorem 2. The 2-D mixed H2 control problem for the
z(i, j ) = C̄ v + D̄1 w1 (i, j ) + D̄2 w2 (i, j ),
x̄ (i, j ) plant (10) is solvable if there exist matrices S > 0, , ,
where , DC and block-diagonal matrices X = diag{X h , Xv },
  Y =diag{Y h , Y v }, N =diag{N h , N v },H11 =diag{H11
h , H v } > 0,
x h (i, j ) 11
x̄ (i, j ) = h
h
H22 = diag{H22 , H22 } > 0 and H12 = diag{H12 , H12
h v h v }, of ap-
xc (i, j )
propriate dimension, such that
⎡ ⎤
H11    
⎢ H12
T H22   ⎥
⎢ ⎥
⎢ XA + C2  X + X T − H11   ⎥ > 0, (12)
⎣ ⎦
A + B3 D C C 2 AY T + B3  I + N T − H12
T Y + Y T − H22 
C1 + D13 DC C2 C1 Y + D13 
T 0 0 I
⎡ ⎤
S   
and ⎢ XB 1 + D21 X + X T − H11  ⎥
  ⎣ ⎦
B1 + B3 DC D21 I + N T − H12
T Y + Y T − H22 
x v (i, j )
x̄ v (i, j ) = D11 + D13 DC D21 0 0 I
xcv (i, j ) > 0, (13)
 R. Yang et al. / Automatica 42 (2006) 1507 – 1514 1511

trace(S) < 21 (14) ⎡ ⎤

S B̄ T1 P̃ T D̄ T1
⎢ ⎥
are satisfied, where  denotes an entry that can be deduced ⎣ P̃ B̄1 P̃ + P̃ T − P 0 ⎦ > 0, (19)
from the symmetry of the matrix.
D̄1 0 I
If the above stated conditions are satisfied, a feasible H2
controller in the form (11) is given by trace(S) < 21 , (20)
⎡ T⎤
AC = U −1 [ − X(A + B3 DC C2 )Y T − XB 3 CC V T −P̄ ĀT P̃ T 0 C̄
− U B C C2 Y T ]V −T , ⎢ ⎥
(15) ⎢ P̃ Ā −P̃ − P̃ T + P̄ P̃ B̄2 0 ⎥
⎢ ⎥ < 0. (21)
⎢ ⎥
BC = U −1 ( − XB 3 DC ), CC = ( − DC C2 Y T )V −T , (16) ⎣ 0 B̄ T2 P̃ T −22 I D̄ T2 ⎦
C̄ 0 D̄2 −I
where U = diag{U h , U v } and V = diag{V h , V v } satisfy XY T +
U V T = N . DC as a solution variable of LMIs (12)–(14) has Obviously,  = −1 = T . Pre- and post-multiplying
been obtained. (18) by diag{, , I }, (19) by diag{I, , I } and (21) by
diag{, , I, I }, respectively, the matrix inequalities (18),
Remark 2. The solution of the 2-D H2 controller in Theorem (19) and (21) are equivalent to
2 is in terms of three LMIs which can be efficiently solved ⎡ ⎤
Q ĀT Q̃T C̄ T
by convex optimization just like other 1-D and 2-D control
⎢ ⎥
problems involving LMIs; see, e.g. de Oliviera, Geromel, and ⎣ Q̃Ā Q̃ + Q̃T − Q 0 ⎦ > 0, (22)
Bernussou (1999) and Du and Xie (2002). C̄ 0 I
⎡ T⎤
Using the result of Theorem 1 and the bounded real lemma S B̄ T1 Q̃T D̄ 1
of Du and Xie (2002), a solution for the mixed H2 /H∞ 2-D ⎢ ⎥
⎣ Q̃B̄1 Q̃ + Q̃T −Q 0 ⎦ > 0, (23)
control problem can be presented in the following theorem.
D̄1 0 I
Theorem 3. The 2-D mixed H2 /H∞ control problem for the ⎡ ⎤
−Q̄ ĀT Q̃T 0 C̄ T
plant (10) is solvable if there exist matrices S > 0, , , ⎢ ⎥
, DC and block-diagonal ⎢ Q̃Ā −Q̃ − Q̃T + Q̄ Q̃B̄2 0 ⎥
 X = diag{Xh , X v}, Y =
h v
  matrices ⎢ ⎥ < 0, (24)
diag Y , Y , N = diag N , N ,H11 = diag{H11 , H11 } > 0,
h v h v ⎢ ⎥
⎣ 0 B̄ T2 Q̃T −22 I D̄ T2 ⎦
H22 = diag{H22 h , H v } > 0 and H
12 = diag{H12 , H12 },
h v
22 C̄ 0 D̄2 −I
K11 = diag{K11 , K11 } > 0, K22 = diag{K22 , K22 } > 0 and
h v h v

K12 = diag{K12 h , K v },of appropriate dimension, such that the

12 where Q = P , Q̄ = P̄  and Q̃ = P̃ .
LMIs (12), (13), (14) and (17) are satisfied.
⎡ −K11      ⎤
⎢ −K12T −K22     ⎥
⎢ XA + C  −X − X T + K11    ⎥
⎢ 2 ⎥
⎢ A+B D C < 0,
 ⎥
(17)
⎢ 3 C 2 AY T + B3  −I − N T + K12
T −Y − Y T + K22  ⎥
⎣ ⎦
0 0 (XB 2 + D22 )T (B2 + B3 DC D22 )T −22 I 
C1 + D13 DC C2 C1 Y + D13 
T 0 0 D12 + D13 DC D22 −I

If the above conditions are satisfied, a feasible mixed H2 /H∞

controller in the form (11) is given by (15)–(16) where Observe that Q̃+Q̃T > Q > 0. Hence, Q̃ is invertible. Denote
{, , , X, Y, N, DC } is a solution to LMIs (12)–(14) and  
(17), and U = diag{U h , U v }, V = diag{V h , V v } satisfy X U
Q̃ = ,
XY T + U V T = N . U1 ∗
 
−1 Y V
Proof. Following from Theorem 1 and the bounded real lemma Q̃ =
of Du and Xie (2002) and using the slack variable technique V1 ∗
(de Oliviera et al., 1999), the mixed H2 /H∞ performance can and
be met if there exist a matrix S > 0, block-diagonal matrices P̃ =  
diag{P̃h , P̃v }, P = diag{Ph , Pv } > 0 and P̄ = diag{P̄h , P̄v } > 0, I 0
Z= .
all with appropriate dimension, such that Y V
 
P ĀT P̃ T C̄ T In view of Q̃ = P̃  with P̃ being block diagonal, it is easy
P̃ Ā P̃ + P̃ T − P 0 > 0, (18) to verify that the matrices X and U are block-diagonal ma-
C̄ 0 I trices. Similarly, since Q̃−1 = P̃ −1 , Y and V are block
1512 R. Yang et al. / Automatica 42 (2006) 1507 – 1514

diagonal as well. Pre-multiply (22), (23) and (24) by 2 is the hardness of the metal strip and  = 1 2 /(1 + 2 ) is
diag{Z, Z, I }, diag{I, Z, I }and diag{Z, Z, I, I }, respectively, the composite stiffness of the metal strip.
and then post-multiply by diag{Z T , Z T , I }, diag{I, Z T , I } and By sampling the process with the sampling period T, approxi-
diag{Z T , Z T , I, I }, respectively. We can obtain the result of mating the differentiation d2 zi (t)/dt 2 by difference (zi (t +T )−
the theorem by letting 2zi (t)+zi (t −T ))/T 2 , and denoting a1 =(2M −T 2 )/M, a2 =
  −1, a3 = /1 , a4 = (T 2 /M) − (2/1 ), a5 = (/1 ), b =
H11 H12 −(T 2 /M2 ), the process (25) can be represented by the fol-
H= = ZQZ T > 0,
H12
T H22 lowing 2-D recursive scheme:
 
K11 K12 zi (t + T ) = a1 zi (t) + a2 zi (t − T ) + a3 zi−1 (t + T )
K= = Z Q̄Z T > 0,
K12
T K22 + a4 zi−1 (t) + a5 zi−1 (t − T ) + bui (t).
N = XY T + U V T ,  = XAY T + XB 3 DC C2 Y T + U B C C2 Y T + Suppose that this system is subject to a disturbance w1 where
XB 3 CC V T +U AC V T , =XB 3 DC +U B C and =DC C2 Y T + w1 is a white noise due to the impurities and surface roughness
CC V T . of the metal strip as well as the oscillation of the spring. The
If there exists a solution for the LMIs (12)–(14) and (17), by measured output yi (t) of the actual roll-gap thickness zi (t)
considering that H > 0, it can be seen from (17) that suffers from a measurement error w2 . If w1 and w2 are assumed
  to be white noises with zero mean and unit variance, coefficients
X + XT I + N
> 0. cl ∈ R is applied to represent the impact of wl for l = 1, 2.
I + NT Y + Y T
Hence, let u(i, j )=Fi (j T ), z(i, j )=zi (j T ), y(i, j )=yi (j T ),
Multiply the above from the left by [−Y I ] and from the right and x h (i, j ) = [zi−1 ((j + 1)T ) zi−1 (j T )]T , x v (i, j ) =
by [−Y I ]T , we obtain that [zi (j T ) zi ((j − 1)T ) zi−1 ((j − 1)T )]T . The process can be
described by the Roesser model
Y (XY T − N ) + (Y X T − N T )Y T > 0. ⎡ ⎤
a3 a4 a1 a2 a5
It is then clear that N − XY T is invertible. Since N − XY T =  h  ⎢ 0 0 1 0 0 ⎥ h 
U V T , U and V are also invertible. Thus, a solution to the con- x (i + 1, j ) ⎢ ⎥ x (i, j )
= ⎢ a3 a 4 a 1 a 2 a 5 ⎥
troller in the form (11) can be obtained from the solutions to x v (i, j + 1) ⎣ ⎦ x v (i, j )
0 0 1 0 0
the LMIs (12)–(14) and (17).  0 1 0 0 0
⎡ ⎤ ⎡ ⎤
b c1
Remark 3. In the proof of Theorem 3, the technique of change ⎢0⎥ ⎢0⎥
⎢ ⎥ ⎢ ⎥
of variables (Gahinet & Apkarian, 1994) has been applied to + ⎢ b ⎥ u(i, j ) + ⎢ c1 ⎥ w1 (i, j ),
transform the nonlinear matrix inequalities (22)–(24) to LMIs ⎣ ⎦ ⎣ ⎦
0 0
(12), (13) and (17) such that the H2 and the mixed H2 /H∞ 0 0
control problems can be solved by the LMI technique. As in  h 
the case of 1-D systems (Gahinet & Apkarian, 1994), the de- x (i, j )
z(i, j ) = [0 0 1 0 0] v ,
sign of a fixed order controller with order k requires an addi- x (i, j )
tional rank condition rank(N −XY )
k
nh +nv , which leads  h 
x (i, j )
to a nonconvex problem when k < nh + nv . When a full order y(i, j ) = [0 0 1 0 0] v + c2 w2 (i, j ).
x (i, j )
controller is considered, i.e. k = n, this rank condition is au-
tomatically enforced by the LMIs and a convex optimization Suppose that the plant has the following parameters:
is derived. For more detailed discussion on the reduced order
controller design, see Gahinet and Apkarian (1994). M = 100, 1 = 600, 2 = 2000, T = 0.1, c1 = 0.1,
c2 = 0.2.
5. Application to the H2 control of a repetitive process
Our objective is to design a controller that minimizes the effect
of the white noises w1 and w2 on the roll-gap thickness. The
In this section, the H2 control method developed in Sec-
problem is formulated as that of designing a controller that
tion 4 will be applied to the control of a metal rolling process.
minimizes the H2 norm of the transfer function
A simplified model of the process can be described by Yamada    
et al. (1999) T1 w1
:  → z.
   T2 w2
 Mp 2 1
zi (t) = 1 + z i−1 (t) − u i (t) , According to Theorem 2, we solve the following optimization
 + Mp 2 1 2
i ∈ 0, 1, 2, . . . , t ∈ (0, ∞), (25) problem by using MATLAB LMI toolbox:

where p denotes the differentiation operator d/dt, zi (t) is the min 21
(S,,,,DC ,X,Y,N,H11 ,H22 ,H12 )
ith actual roll-gap thickness, ui (t) is the force of the ith rolling
process developed by the motor, M is the lumped mass of the subject to (12)–(14) where B1 , D11 , D21 in (13) are replaced by
roll-gap adjusting mechanism, 1 is the stiffness of the spring, [B1 B2 ], [D11 D12 ] and [D21 D22 ], respectively. We obtain the
 R. Yang et al. / Automatica 42 (2006) 1507 – 1514 1513

x1014
0.7 7
0.6 6
0.5 5
|T1(ωh,ωv)|

|T1(ωh,ωv)|
0.4 4
0.3 3
0.2 2
0.1 1
0
1 0
1
0.5 1
0.5 1
0 0.5
0 0 0.5
ωv -0.5 0
-0.5 ωh ωv -0.5
-1 -1 -0.5 ωh
-1 -1
Fig. 1. The frequency responses of the closed-loop functions T1 (ejh , ejv ).
Fig. 3. The frequency response of the open-loop function T1 (ejh , ejv ).

is shown in Figs. 1 and 2, by which the H2 norm of

 
T1
0.8
T2
0.7
0.6
is calculated to be 0.4609 which is lower than the upper bound
|T2(ωh,ωv)|

1 . As compared with the open-loop frequency response given

0.5
in Fig. 3, it is clear that the impact of the noise w1 on the
0.4
system output is greatly reduced by the designed controller. This
0.3
example demonstrates that the proposed H2 control method can
0.2 be applied to minimize the H2 norm of the closed-loop system.
0.1
1
0.5 1 6. Conclusion
0 0.5
0
ωv -0.5 In this paper, we extended the classical definition of the H2
-0.5 ωh
-1 -1 performance to 2-D systems and presented an original sufficient
condition for evaluation of the H2 performance of 2-D systems
Fig. 2. The frequency responses of the closed-loop functions T2 (ejh , ejv ). in Roesser model. Using this condition and the existing bounded
real lemma for 2-D systems, we developed systematic design
methods for the H2 and mixed H2 /H∞ control of 2-D systems
optimal 1 = 1.1330. Based on the solution to this optimization in Roesser model. We also successfully applied our 2-D design
problem, the controller we obtain is methods to the metal rolling process control problem.
⎡ 0.0001 0.0000 −12.9922 −0.8090 −0.0249 ⎤
⎢ −0.0002 −0.0001 47.2440 2.9416 0.0905 ⎥ Acknowledgement
AC = ⎢
⎣ 0.1338 0.0800 −0.2265 −0.0141 −0.0004 ⎥
⎦,
−2.2015 −1.3159 3.6939 0.2300 0.0071 This work was partially supported by Australian Research
1.6988 1.0154 −2.6976 −0.1680 −0.0052 Council, National Natural Science Foundation of China (Grant
No. 60504022), Natural Science Foundation of Guangdong
(Grant No. 05003343), and Agency for Science, Technology
BC = [5.7819 − 21.2609 1.2438 − 20.4589 15.7062]T
and Research of Singapore (Grant P0520104).
CC = [−8089.1 743.6 − 122824.9 − 6373.6 1327.3], References
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Ran Yang received B.E. degree in electrical
engineering from Northeastern University, PR
China, in 1996, and M.Sc. and Ph.D degrees in
applied mathematics and electrical engineering
from Shanghai Jiaotong University in 1999 and
2001, respectively. She worked as a research
fellow at the University of Melbourne from 2001
to 2004.
Since 2005, she has been with the School of
Information Science and Technology, Sun Yat-
Sen University, PR China, where she is currently
an Associate Professor.
Her research interests include multi-dimensional systems, descriptor systems,
optimal estimation, robust filtering and control.
Lihua Xie received the B.E. and M.E. degrees
in electrical engineering from Nanjing Univer-
sity of Science and Technology in 1983 and
1986, respectively, and the Ph.D. degree in
electrical engineering from the University of
Newcastle, Australia, in 1992.
Dr. Xie is currently a Professor with the School
of Electrical and Electronic Engineering,
Nanyang Technological University, Singapore.
He held teaching appointments in the Depart-
ment of Automatic Control, Nanjing University
of Science and Technology from 1986 to 1989.
He also held visiting appointments with the University of Melbourne. His
current research interests include robust control, networked control systems,
time delay systems, control of disk drive systems and sensor networks. In
these areas, he has published several papers and co-authored (with C. Du)
the monograph H-infinity Control and Filtering of Two-dimensional Systems
(Springer, 2002).
Dr Xie serves an associate editor of the IEEE Transactions on Automatic
Control, the IEEE Transactions on Circuits and Systems-II, International Jour-
nal of Control, Automation and Systems, and Journal of Control Theory and
Applications. He is also a member of the Editorial Board of IEE Proceed-
ings on Control Theory and Applications. He served as an associate editor of
the Conference Editorial Board, IEEE Control Systems Society from 2000
to 2005.
Cishen Zhang received the B.Eng. degree from
Tsinghua University, China, in 1982 and Ph.D.
degree in Electrical Engineering from Newcas-
tle University, Australia, in 1990.
Between 1971 and 1978, he was an Electrician
with Changxindian (February Seven) Locomo-
tive Manufactory, Beijing, China. He carried out
research work on control systems at Delft Uni-
versity of Technology, The Netherlands, from
1983 to 1985. After his Ph.D. study from 1986
to 1989 at Newcastle University, he was with
the Department of Electrical and Electronic
Engineering at the University of Melbourne, Australia as a Lecturer, Senior
Lecturer and Associate Professor and Reader till October 2002. He is currently
with the School Electrical and Electronic Engineering and School of Chemical
and Biomedical Engineering at Nanyang Technological University, Singapore.
His research interests include signal processing, medical imaging and control.