Kong Zhi Gong Cheng Qi Kan

Scientific Journal of Control Engineering

Lurie
*
1 2
1. 110122
2. 066004
Lurie Lyapunov

Matlab

Lurie

Delay-dependent Robust Absolute Stability of Uncertain Neutral Lurie

Control Systems
Xianwei Hu*1, Yuxia Zhao2
1. Shenyang Chemical Industry School, Shenyang, China, 110122
2. College of Sciences, Yanshan University, Qinhuangdao, China, 066004
*

Email: wolf63@126.com

Abstract: This paper deals with the problem of robust absolute stability of uncertain neutral Lurie systems with time-delay. Using
Lyapunov method and free-weighting matrix method, a delay-dependent criterion for absolute stability of the system is given in finite
sector. The criteria are formulated in the form of linear matrix inequalities, which can be easily checked by utilizing Matlab LMI Toolbox.
Finally, a numerical example is presented to illustrate the effectiveness of the method.
Key words: Neutral Lurie Systems; Robust Absolute Stability; Free weighting matrix; Linear Matrix Inequality

[5 ~ 7 ]

[1~ 4 ]

Lurie

Lurie [7] Lurie

[8]
Lurie

Lurie Lyapunov

Lurie

(60974004)
SJCE Jun.2012 Vol.2 No.3 PP.83-88 http://www.sj-ce.org/2011 American V-King Scientific Publishing, LTD| 83

Kong Zhi Gong Cheng Qi Kan

Scientific Journal of Control Engineering

x(t=
) Ax(t ) + Bx(t h) + G x(t ) + Df ( (t h))

(t ) = Cx(t )
x(t=
(t ), [ max{h, }, 0]
0 + )

(1)

x(t ) = ( x1 (t )

x2 (t ) x3 (t ) x4 (t ))T A G B R nn C R mn D R nm
(t ) = ( 1 (t ), 2 (t ),, m (t ))T h > 0 f ( (t )) = ( f1 ( 1 (t )), f 2 ( 1 (t )), , f m ( 1 (t )))T m

f i ( )

fi () K[0, k ] ={ fi () | fi (0) =0 ,0 < i fi ( i ) ki i , i 0}

2

(2)

< ki < + K diag ( k1 , k2 ,

0=
=
, k m ) , ki > 0, ( i 1, 2, , m )

x (t=
) ( A + A) x (t ) + (G + G ) x (t ) + ( B + B ) x (t h) + ( D + D ) f ( (t h))

(3)
(t ) = Cx (t )
x (t=
+ ) (t ), [ max{h, }, 0]
0

[ A(t ) B (t ) G (t ) D (t ) ] = HF (t ) [ E1 E2 E3 E4 ] H E1 E2 E3 E4

F (t ) F (t ) F (t ) I t I
T

1 (2) f ( (t h)) (1)

(1)
2 (3)(3)

1[9] Q = Q H E Q + HF (t ) E + E F (t ) H < 0 F (t ) F (t ) I
T

F (t ) > 0 Q + HH + E E < 0
1

Q Q > 0 =
R R > 0 =
S S > 0 =
M
P P > 0 =
1 h > 0 =
T

X 11
*
diag (1 , 2 , m ) > 0 X =
*

M > 0
T

X 14

X 12

X 13

X 22

X 23

X 24

X 33

X 34

X 44

0 N i , i = 1, 2, 3, 4

LMI

11 12

22

X 11
*

= *

*
*

13

14

hA R

23

24

hB R

33

hX 34

hG R

44

hD R

hR

X 12
X 22
*

X 13
X 23
X 33
*
*

X 14
X 24
X 34
X 44
*

*
*

84 | SJCE Jun.2012 Vol.2 No.3 PP.83-88 http://www.sj-cs.org/2011 American V-King Scientific Publishing, LTD

N1
N 2
N3 0

N4
R

A S
T

T
G S < 0
T
D S

0
S
T

B S

(4)

(5)

Kong Zhi Gong Cheng Qi Kan

Scientific Journal of Control Engineering

11 = PA + AT P + Q + M + C T K KC + N1 + N1T + hX 11 12 = PB N1 + N 2T + hX 12
13 = PG + N 3T + hX 13 14 = PD + N 4T + hX 14 22 = M N 2 N 2T + hX 22
23 = N 3T + hX 23 24 = N 4T + hX 24 33 = S + hX 33 44 = + hX 44
(1)
Lyapunov-Krasovskii

V (t , xt ) = V1 + V2 + V 3 +V4 + V5 + V6 ,

(6)

V1 = x (t ) Px (t ) V2 =
T

V4 =

t +

x ( s ) R x( s ) dsd V3 =

x ( s ) S x ( s ) ds V5 =

xT ( s )Qx ( s ) ds
m

t h

xT ( s ) Mx( s ) ds V6 = i

f 2 ( ( s )) ds

t h

i =1

V (t , xt ) (1)

V1 = 2 x (t ) P x(t ) V2 = h x (t ) R x(t ) - x (t ) R x(t )ds

T

t h

V3 = x T (t )Qx T (t ) - x T (t )Qx(t ) V4 = x (t ) S x(t ) - x (t ) S x(t )

V5 = x T (t ) Mx(t ) - x T (t h) Mx(t h) V6 = f T ( (t ))f ( (t )) - f T ( (t h))f ( (t h))

V = V1 + V3 + V3 + V4 + V5 + V6

(2) f i ( i (t ))( f i ( i (t )) k i ci x(t )) 0 f i ( i (t )) k i ci x(t )

V (t , xt ) 2 xT (t ) P x(t ) + x (t )(hR + S ) x(t ) - x (t ) R x(t )ds + x T (t )(Q + M ) x T (t ) t h

x T (t )Qx(t ) - x (t ) S x(t ) - x T (t h) Mx(t h) + x T (t )C T KKCx (t ) f T ( (t h))f ( (t h))

(7)

- N i i = 1, 2,3, 4
T

2[ x (t ) N1 + x (t h) N 2 + x (t ) N 3 + f ( (t h)) N 4 ] [ x (t ) x (t h)
T

X 11
*

=
X
*

t h

x( s )d s]=0

(8)

X 14

X 12

X 13

X 22

X 23

X 24

X 33

X 34

X 44

h1T (t ) X 1 (t ) - 1T (t ) X 1 (t ) ds 0
t

t h

1 (=
t ) x ( t ) x (t h ) x (t )
T

(9)

f T ( (t h))

(8)(9)(7)

V (t , xt ) 2 x (t ) P x(t ) + x (t )(hR + S ) x(t ) -

T

t h

x (t ) R x(t )ds + x T (t )(Q + M ) x T (t ) -

x T (t )Qx(t ) - x (t ) S x(t ) - x T (t h) Mx(t h) + x T (t )C T KKCx (t ) T

f T ( (t h)) f ( (t h)) + 2[( xT (t ) N1 + xT (t h) N 2 + x (t ) N 3 + f T ( (t h)) N 4 )

SJCE Jun.2012 Vol.2 No.3 PP.83-88 http://www.sj-ce.org/2011 American V-King Scientific Publishing, LTD| 85

Kong Zhi Gong Cheng Qi Kan

Scientific Journal of Control Engineering

( x(t ) x(t h) x( s ) d s)] + h1T (t ) X 1 (t ) - t h 1T (t ) X 1 (t ) ds

t h
t

= Y (t )Y (t ) T

t h

2T (t , s ) 2 (t , s )ds

Y T (=
t ) x T ( t ) x T ( t h ) x T ( t ) x (t )

f T ( (t h)) 2T (t , s ) = 1 (t ) x ( s )

11 + A WA 12 + A WB 0 13 + A WG 14 + A WD

T
T
T
*
22 + B WB 0 23 + B WG 24 + B WD

=
*
*
0
0
Q

T
T
*
*
* 33 + G WG hX 34 + G WD

*
*
*
*
44 + D WD
T

(10)

= hR + S
11 12 13 14 22 23 24 33 44 (4)W
Schur <0 (4)(5)(1)
1 1 Lurie
Q Q > 0 =
P P > 0 =
R R > 0 =
S S > 0 =
M M > 0
2 h > 0 =
T

X 11
*
= diag (1 , 2 , m ) > 0 X =
*

X 14

X 12

X 13

X 22

X 23

X 24

X 33

X 34

X 44

0 N i i = 1, 2 ,3, 4 > 0

LMI

11 + E1T E1 12 + E1T E2

22 + E2T E2

X 11
*

*
*

13 + E1T E3

14 + E1T E4

T
h AR

AT S

23 + E E3

24 + E E4

T
2

T
2

h BR B S

33 + E E3 hX 34 + E E4 hG R G T S
T
3

T
3

PH

0
0

0
<0
0

44 + E4T E4

hR

SH

hDT R DT S

(11)

RH

N1

X 12

X 13

X 14

X 22

X 23

X 24

N2

X 33

X 34

N3 0

X 44

N4

(12)

(3) 11 12 13 14 22 23 24 33 44 (4)
A + A(t ), B + B (t ), G + G (t ), D + D (t )) (4) ABGD(1)(4)
T
T
PH
E1T E1
PH

T
0
T
0
E2
E2

0
0 0
0
T + E T F T (t ) 0 < 0

+ 0 F ( t ) E3 3


0
E4T E4T
0



0 0
RH
RH
0 0
SH
SH
T

86 | SJCE Jun.2012 Vol.2 No.3 PP.83-88 http://www.sj-cs.org/2011 American V-King Scientific Publishing, LTD

(13)

Kong Zhi Gong Cheng Qi Kan

Scientific Journal of Control Engineering

1(13) > 0
T

E1T E1T
PH PH
T T
0 0
E2 E2

0 0
0 0
T T

1
+
0 0 + E3 E3 < 0
ET ET
0 0
4 4

RH
RH
0 0

0 0
SH SH

T

(14)

Schur (14)(11)(3)

Lurie

x(t ) (G + G (t )) x(t =
) ( A + A(t )) x(t ) + ( B + B(t )) x(t h) + ( D + D(t )) f ( (t h))
(t ) = Cx(t )

3
A=
0.2

0
1 0.2
0.2 0.1
1
B =
G =
D =

3
1 0.5
0.3 0.2
0 0.1
0
0.02 0
0.05 0
0.04
1 0.1
E1 =
E2 =
E3 =

C=

0.05
0.04
0 0.02
0
0
0.5 1
0.03 0
1 0
H =
E4 =

k1 = 1 k2 = 3 h = 1.5
0 0.03
0 1
2 Matlab LMI (11)(12) = 11.1230
4.3174 0.2822
1.0336 0.1852
0.1695 0.0097
Q =
R =
P=

0.2822 7.5038
0.1852 1.1323
0.0097 0.3697
0.8781 0.2162
7.6786 2.2700
M =
S=

=diag{1.9389,1.9389}
0.2162 1.1909
2.2700 3.7841
2.2065 78.2940
0.9601 0.3469
0.0056 0.0799
X 12 =
X 13 =
X 11 =

77.7580 2.8255
1.2364 0.8329
0.2920 0.2002
0.5844 0.1058
2.0080 9.0823
0.0882 0.1665
X 22 =
X 23 =
X 14 =

0.0938 0.1268
10.2293 1.3971
0.1086 0.1081
0.2111 21.3103
0.2180 0.1505
0.1045 0.0266
X 33 =
X 34 =
X 24 =

,
21.2144 0.3858
0.0472 0.0870
0.0268 0.0204
0.3149 21.1871
0.0490 0.0635
0.0214 0.1588
N1 =
N2 =
X 44 =

21.1325 0.6690
0.0724 0.2267
0.1272 0.1608
0.0217 0.0084
0.0114 0.0164
N4 =
N3 =

0.0453 0.0253
0.0032 0.0037
0.1

(3) Matlab

Lurie Lyapunov

SJCE Jun.2012 Vol.2 No.3 PP.83-88 http://www.sj-ce.org/2011 American V-King Scientific Publishing, LTD| 87

Kong Zhi Gong Cheng Qi Kan

Scientific Journal of Control Engineering

[1] Popov V M. Absolute Stability of Nonlinear Systems of Automatic Control[J]. Automation and Remote Control, 1962, 22(8):857-875.
[2] He Y, Wu M, She J H, et al. Robust Stability for Delay Lurie Control Systems with Multiple Nonlinearities [J].Computational and Applied
Mathematics, 2005, 176(2):371-380.
[3] Lin C, Wang Q G, Lee T H. A Less Conservative Robust Stability Test for Linear Uncertain Time-delay Systems [J].IEEE Trans on
Automatic Control,2006,51(1):87-91.
[4] He Y, Wang Q G, Lin C. Further Improvement of Free-weighting Matrices Technique for Systems with Time-varying Delay [J].IEEE Trans
on Automatic Control, 2007, 52(2):293-299.
[5] Yang Bin, Chen Mianyun. Delay-dependent Criterion for Absolute Stability of Lurie Type Control Systems with Time-delay[J].Control
Theory and Application,2001, 18(6):929-931.
[6] , . Lurie [J]. ,2001,18(6):925-928.
[7] , . Lurie [J].,2004.30(2):261-264.
[8] Tian Jun-kang, Zhong Shou-ming, Xiong Liang-lin. Delay-dependent Robust Stability Criteria for Neutral Lurie Control Systems [J].
Mathematical research & Exposition, 2008, 28(3):713-719.
[9] Boyd S, Ghaoui L EI, Feron E, Balakrishnan V. Linear Matrix Inequality in System and Control Theory[M], Philadelphia: Society for
Industrial and Applied Mathematics,1994.
[10] Kwon O M, Park J H. On limoroved Delay-Dependent Robust Control for Uncertain time-delay systems [J]. IEEE Trans on Automatic
Control, 2004, 49(11):1991-1995.

(1963-)

E-mail: wolf63@126.com

(1986.1-)

E-mail: zhao yuxiafei@126.com

88 | SJCE Jun.2012 Vol.2 No.3 PP.83-88 http://www.sj-cs.org/2011 American V-King Scientific Publishing, LTD