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Printedin Great Britain PergamonPressLtd.
© 1983InternationalFederationof AutomaticControl
A Liapunov type stabilization theory, developed for linear systems, includes time-varying
parameters which are unknown but bounded in their state variable description.
Key Words--Uncertain systems; stabilization; linear control; ultimate boundedness; Liapunov functions.
Al~traet--Given a state equation whose description includes graphics]. These so-called uncertain dynamical
uncertain parameters, it is often desirable to design a feedback systems are typically described by differential
controller which renders all solutions uniformly and ultimately
bounded. When facing such a problem, one often has available or equations which contain parameters whose values
assumes an upper bound for the excursions of the uncertain are imprecisely known. In contrast to the stochastic
parameters. Within this framework, the objective is to guarantee, control set-up, no assumptions are made concern-
no matter how 'nature' selects the uncertainty, that the state will
eventually end up and remain within some pre-specified region. ing the statistics of the uncertain parameters in
When this region is a small neighborhood about the origin, the question. Instead, only a bound on the parameter
concept of uniform ultimate boundedness is tantamount to variations is taken as given and the objecti.ve is to
'practical' asymptotic stability. The objectives of this paper are
twofold: first and foremost, our goal is to show that a class of design a controller which satisfactorily regulates the
ultimate boundedness problems which have been solved to date system. Often the term 'guaranteed performance' is
via nonlinear control, can in point of fact be solved via linear used to denote the fact that the resulting closed-loop
control. This is the main result and is given in Theorem 4.1.
Secondly, we show that some of the so-called matching system will have certain desirable properties (for
assumptions (which have been required in the earlier literature) example, asymptotic stability) for all admissible
can be weakened somewhat. This enables one to design variations of the uncertainty.
controllers for a larger class of dynamical systems than
previously considered. This paper is concerned with the problem of
ultimate boundedness within the framework de-
1. INTRODUCTION scribed above. Our main objective is to show that a
IN RECENT years, a number of new approaches have linear time-invariant feedback control will suffice
been proposed for synthesizing controllers which for a large class of systems previously stabilized by a
lead to either asymptotic stability or ultimate nonlinear control. That is, instead of accomplishing
boundedness of the state of an uncertain dynamical ultimate boundedness via a controller which
system [see for example Chang and Peng (1972); operates nonlinearly on an inaccurately measured
Leitmann (1978, 1979, 1981); Molander (1979); state, we achieve the same end via a pure gain. This
Gutman (1979); Vinkler and Wood (1980); Corless linearity in the control structure is the marked
and Leitmann (1981); Thorp and Barmish (1981); difference between the results of Leitmann (1978,
Barmish and Leitmann (1982), and their biblio- 1979, 1981); Gutman (1979); Corless and Leitmann
(1981); Barmish and Leitmann (1982) and those
given here. In the case of Chang and Peng (1972);
* Received 16 November 1981 ; revised 24 August 1982; revised Molander (1979); Vinkler and Wood (1980); Thorp
11 February 1983. The original version of this paper was
presented at the 8th IFAC World Congress on Control Science and Barmish (1981), linear controllers are designed
and Technology for the Progress of Society which was held in for-systems without input and/or measurement
Kyoto, Japan during August 1981. The published proceedings of uncertainty. In this paper, both of these types of
this IFAC meeting may be ordered from Pergamon Press Ltd,
Headington Hill Hall, Oxford OX3 0BW, U.K. This paper was uncertainties are included and it is shown that linear
recommended for publication in revised form by associate editor feedback is nevertheless feasible. Before proceeding,
J. Ackermann under the direction of editor H. Kwakernaak. two points are worthy of mention:
t Department of Electrical Engineering, University of
Rochester, Rochester, NY 14627, U.S.A. (1) The presence of an additive input uncertainty
:~Bell Laboratories, Holmdel, NJ 07733, U.S.A. in our formulation precludes the possibility of
523
524 B.R. BARMISH, I. R. PETERSEN and A. FEUER
Assumption 4. For example, if B(q)=-Bo is will possess a solution x('): [to, t1 ] ~ R* which is
constant, one can take B = Bo and ~F(q)_-__I. In continuable over [to, oo).
Peng (1972); Chang and Peng (1974); Vinkler and (ii) All possible solutions* x(.): [to, oo) ~ R n of
Wood (1980), it is assumed that one can write (1) are uniformly and ultimately bounded with
B(q) = Bo + qBo where Iq(t)l < (t, 7t > O. For this respect to X.
case, the choice B = Bo, qJ(q) = (q + 1)I will suffice. (iii) Given any admissible uncertainties q('), v(')
Finally in Leitmann (1978, 1979, 1981); Gutman and w(.), the so-called Liapunov derivative
(1979); Corless and Leitmann (1981), it is assumed
that B(q) is a matrix of the form B(q) = Bo + BoE(q)
.~q~(x,t) ~=x' [A'(q(t))P + PA(q(t))]x
where E(') is a continuous m x m matrix function
satisfying liE(q)ll < 1 for all q e (2. In this situation, it + 2x'P[B(q(t))p(x + w(t)) + Cv(t)] (2)
is easy to verify that Assumption 4 is satisfied by
choosing B = Bo and ~F(q) = I + E(q).
admits a bound .~q~(x,t) _< -Co which holds for all
It is also important to note that in this paper we
t >- 0 and all x ~ XC.?
are making no a priori assumptions on the structure
of A(q). Hence, the linearity assumption on A(')
Remarks. Implicit in (1) is the fact that the control
required in Peng (1972); Chang and Peng (1974);
u(') is an output feedback of the form
Vinkler and Wood (1980), the matching conditions
on A(') required in Leitmann (1978, 1979, 1981);
u(t) = p(y(t)). (3)
Gutman (1979); Corless and Leitmann (1981);
Thorp and Barmish (1981), the mismatch limit on
We also note that ifP satisfies condition (2), then the
A(.) required in Barmish and Leitmann (1982) and
function V:R" -, R given by
the subspace inclusion condition on A(') required in
Molander (1979) are all subsumed by the present
formulation. V(x) A=x'Px (4)
gain matrix using the results given in Sections 4 and This system is linear and has a bounded Lebesgue
6 of this paper. It is also of interest to note that this measurable input 'BKw(t)+ Cv(t)' (see Assump-
design philosophy can also be applied to systems tions 2 and 3). Note also that the system matrix
other than those satisfying the matching conditions 'A(q(t)) +B(q(t))K' also has bounded Lebesgue
which were discussed in the introductory section. measurable entries (see Assumptions 1-3). Hence,
For example, when A(q) fails to satisfy a matching given any initial condition X(to)=Xo, and ad-
condition, one can often nevertheless generate the missible uncertainties q(.), v(') and w(.), the resulting
input data {p('), P, k0, Co} by considering a certain solution x(.) is continuable over [to,OO)
feasible point problem (Hollot and Barmish, 1980). (Coddington and Levinson, 1955).
As far as this paper is concerned, however, the data
{p('),P, ko, co} (associated with a nonlinear con- Condition (iii). The main thrust of the proof will
troller) is taken as given when we design linear be directed towards the satisfaction of this
controls. condition. We first choose the matrices P and K as
4. M A I N R E S U L T
The proof of the following theorem will be carried
P ~P (5)
out in Section 5. To this end, we shall construct a
and
candidate controller using the known data which
describes the system. Then, it will be shown that this
control does indeed satisfy the conditions of K ~= - 7B'P (6)
Definition 3.3.
where y > 0 is a gain which will be defined in the
Theorem 4,1 sequel. Our task now is reduced to showing that ~,
Suppose that (S) is u.u.b.q. Then (S) is u.u.b.q, via Co, ko > 0 exist so that condition (iii) is satisfied.
linear control. We begin by performing a sequence of sub-
stitutions and simplifying notation. The control
Remarks. Sometimes when a system cannot be p(y) = Ky is substituted into (2). Also making use of
asymptotically stabilized, one can nevertheless the matchiiag conditions (Assumption 4) and
assure 'practical' asymptotic stability by dem- equations (5) and (6), we obtain
onstrating that the ultimate boundedness set X in
Definition 3.1 and 3.2 is 'sufficiently small'. This is .W(x,t) = x' [A'(q(t))P + PA(q(t))]x
shown in Barmish, Corless and Leitmann (1983).
Note that in the theorem above, there are two - ?x'PB [W(q(t)) + W'(q(t))]B'Px (7)
ultimate boundedness sets in question. The first of
these sets X"results from applying nonlinear control - 2~x'PBW(q(t))B'Pw(t) + 2x'PBFv(t)
whereas the second of these sets X corresponds to
the linear control system. From a stabilization point for admissible uncertainties q(.), v(') and w(').
of view, it would be of interest to focus future Next, for notational convenience, we define the
research effort on comparing the 'sizes' of X" and X. quantities
Hence, one could systematically evaluate the
tradeoffs involved in implementing a linear versus
p~ ~ max {x' [A'(q)P + PA(q)]x:q ~ Q, x'Px = 1}
nonlinear control.
(8)
5. P R O O F O F T H E O R E M 4.1
A
Since (S) is known to be u.u.b.q., there is a control Po = max IIFvll (9)
p(-), a positive-definite symmetric matrix P and veV
Using these definitions and (7), we obtain for all x e R" such that x'Px =/~o and
IIB'Pxll < p0~1/2.
Za(x, t) <<_x' [A'(q(t))P + PA(q(t)) ]x - 2?pallB'Pxll 2
+ 2ylIB'PxlI " IIW(t)B'Vw(t))ll Using the given definition of gv('), we can readily
establish the following claim:
+ 211B'Pxll'llFv(t)ll
Claim. Given any 0 < fl < 1, there exists some
which can be re-written more conveniently as
y > 0 such that
..~(x,t) <_x' [A'(q(t))P + PA(q(t)) ] x - ~yPallB'Pxll 2
gv(x) < - flCo (16)
4
+ --llFv(t)ll 2 for all x e R ~ such that x'Px = lco.
YPq
To prove (16), we take 8~ (0, 1) as given, select pp
+ 4?llW(q(t))B'Pw(t)ll2 as in (15) and choose any y > 0 such that
Pq
Iz(x,t) ~= B'PxII - ]lFv(t Now, let x • R" be given such that x'Px = J~0.There
are two cases to consider: If IIB'Pxll <_ p#~l/2, then
(11 4
I2(x,.t) ~= B'PxII - --IlW(q(t))B'Pw(t
P~
)11)2•
we use 'property of go(')' to obtain
for all xeR" and all a > O. When ? = O, one further xtPx / ~01/2 I + 4_4_p~+ 4?p~w
.~(x,t) <--~-o g, l ~ x ]
property of go(') will be used in the sequel; the YPq Pq
existence of the constant pp below is established in
Appendix A. and in view of the preceding claim, the inequality
above becomes
Property of go('). Given any 0 < fl < 1, there
exists a constant pp > 0 such that
[x'Px I ff~o + 4 P~ + "P~w. (19)
go(x) <_ - 8do (15) .~(x,t) <_ - I ~o I ?P~ Pq
528 B.R. BARMISH, I. R. PE'IERSEN and A. FEUER
Clearly, (19) enables us to generate the appropriate Case 1. P q w - P v : 0 (neither measurement un-
constants Co and ko. One can either choose Co > 0 certainty not"input uncertainty). For this situation, (20)
arbitrarily and then reduces to
koco
ko:~o Co + % 2 + (20) ko = - - (23)
YPq Pq l
or, one can choose any Hence, by choosing Co sufficiently small, k0 can be
made arbitrarily small. Therefore, our results are
4,0 (21)
compatible with known results [such as those in
ko > ~ Leitmann (1979); Gutman (1979); Thorp and
Barmish (1981)] on the guaranteed stability
and then take problem.
Remarks. From the point of view of practical qeQ, x'Px = 1}. (26)
stability, it would be of interest to know when ko can
be chosen arbitrarily small while still satisfying (20).
Two special cases of interest have been studied in the
earlier literature. We see below that for each of these
? PNmust be positive;otherwisethe minimizingelementu. in
two cases, ko can indeed be chosen as small as we (25) would violate u',B'PBu. = 1. For the trivial case when
desire. B = 0, then the minimizingset in (25) is empty and p• = + or.
Linear ultimate boundedness control of uncertain dynamical systems 529
The following theorem addresses the problem of It should also be noted that from the point of view
construction of the desired constant p#; see of control synthesis, the ratio Co/J~ocan be calculated
Appendix B for proof. without recourse to the structure of the nonlinear
function p('); that is; having the P matrix available,
Theorem 6.1 one can take
Suppose that the u.u.b.q, requirements of
Definition 3.2 are satisfied by the matrix P and the Co
j~-~_< - s u p {x' [A'(q)P + PA(q)]x:x'Px = 1,
constants c0 and J~o.Take 13e (0, 1) as fixed. Then the
constant B'Px = 0}.
((I --_~) ~o
=~ ~ 2pa ~oX/(PN/2)' if r a n k B < n For this example the constraint set {x:x'Px = 1,
P# (27) B'Px = 0} is empty and therefore, Co/ko can be
[6x/pN, if r a n k B = n , ( 0 < 6 < l ) taken to be any arbitrary positive constant. Using
(17) and (20), we obtain
satisfies condition (15). That is
{ ~ 2 ~o l
go(x) = maxx' [A'(q)P + PA(q)]x <_ -flCo (28) y > max u,~--0-~;
tlSQ
and
for all x~R" such that x'Px=ko and
]]B'PxI] < p#k 1/2.
~o
ko = ~ o (4~w2 + Co).
By using p# as above, one can now provide a
'recipe' for construction of a linear controller which
satisfies the u.u.b.q, requirements. This is accom- Given any fie(0,1) and any arbitrary constant
plished as follows: (i) compute ps, p~, P~w and pq A > 0, we take p# = 1/(1 + A) and choose
using (8)-(11). (ii) Select fl ~ (0, 1) and calculate Pa,
PN and p# using (25)-(27). (iii) Choose the gain
~, = j--~p~o (I + A) = (I + A) 3.
constant y satisfying (17). (iv) Select Co and k0
satisfying (20). The desired feedback gain matrix is
then K = - yB'P. Furthermore, all solutions will be This leads to
uniformly and ultimately bounded with respect to
the set X = { x e R " : x ' P x <_ ko}.
ko = ~W2(1 + A) 3 + ~__~o2Co
~o fl"
7. ILLUSTRATIVEEXAMPLES
Example 1. To see that the 'commonsense' It is clear that we can make y arbitrarily small by
solution and the formal solution agree, we consider choice of 13. Furthermore, by choice of Co and A, we
the scalar state and output equations can make ko arbitrarily close to ]~2. This
corresponds to the ultimate boundedness set
g(t) = u(t); y(t) = x(t) + w(t); Iw(t)l _
x =
Vinkler, A. and I. J. Wood (1979). A comparison of several It will be useful to develop an expression for #(p). Given any
techniques for designing controllers of uncertain dynamic x e R', we can decompose x into two orthogonal components as
systems. Proceedings of the IEEE ConJerence on Decision and follows:
Control, San Diego.
Vinkler, A. and I. J. W o o d (1980). Multistep guaranteed cost X = XA + XB
control of linear systems with uncertain parameters. J.
Guidance & Control, 2, 449. where
for all x e R" such that x'Px > rio and I[B'Pxll = O. Since ~ is such Therefore, (A6) also holds in this case. This completes the proof of
a vector, it follows that Claim 1.
go(£) < - ~'o- (A2) Claim 2. Suppose that r _> 0 and p >_ 0 are fixed. Then
Since 0 < / / < 1, inequalities (A1) and (A2) are inconsistent. [] max {d2(x, Dr):x ~ dp,.p}
= 2r 2, ifr_<~/pN (A8)
A P P E N D I X B. P R O O F O F T H E O R E M 6.1
We construct p~ for two separate cases.
2r - 2r r2 --- if r > -
Case 1.0 < rank B < n. First we claim in this case that p,~ > 0. ON x/Ps "
This can be seen by contradiction; that is, suppose PA -- 0. Then To establish (A8), we first re-write Ps [see (25)] in terms of the
matrix S. Indeed
A'(q)P + PA(q) = 0
PN = min {y'PBB'Py:y'Py = 1,y = Bu, u e R"}
for all q ~ Q. Furthermore, in view of the assumed rank of B, one
can select a point x* E R* such that x*'Px* > l~o and B'Px* = O. = min {x'SBB'Sx:Ilxtl = 1,x = SBu, u~Rm}. (A9)
It follows from (2) that for any admissible uncertainties q(.), v(')
and w('), 5¢(x*, t) = 0. This contradicts the assumption that the We apply Claim 1 to obtain
system (S) is u.u.b.q. We conclude that p,, > 0.
Since P is positive-definite, there exists a positive-definite m a x {d2(x, Dr):x~ep,.p} = m a x {2r 2 - 2r[Ixsll:x6(h,.p}
symmetric matrix S such that P = S 2. Now, given any non- = 2r 2 - 2rmin{llxBll:xE~P,.p}. (AI0)
negative numbers r and p, we define the family of sets
In view of the fact that IIxA2 + IIxBII2 = r 2 for x~b,,p,
d;,., ~= {xER":x'SBB'Sx <_ p2, Ilxll = r} (A3) minimizing Jlxall is equivalent to maximizing IIxA. Hence, we
consider the following problem:
Find m a x IIxAlt subject to IIxA -< r and x'SBB'Sx < / 9 2, where
and x = xA + xa is decomposed as earlier in the proof. Note that for
all x ~ R', x' SBB'Sx = x~SBB' Sx A. Consequently, it follows that
Dra(#,.o= {xeR":B'Sx=O, Ilxll=r}. (A4) the second constraint in our maximization problem is
t a n t a m o u n t to x'ASBB'SxA _< ,0 2. Furthermore, it follows from
(A9) that given any ~t > 0,
where II'll is the usual euclidean norm. Letting d(x, [L) denote the
distance from the point x to the set Dr,'t one can also define a pN~2 = min {y'SBB'Sy:y = SBu, u e R m, Ilyl[ = ~}. (All)
scalar function #: [0, ~o) ~ [0, oo ] by
l f y e R " is such that y = SBu, u e R " and y'SBB'Sy < p2, then it satisfies condition (28). First we rewrite the constant ,','4 in terms
follows from (A11) that p~llyll2 < pZ. Therefore, IlYll < P/x/Pu. of the matrix S. It follows from (26) that
From the analysis above, we conclude that
PA = max{ly'[SA(q)S ~ + S ~A'(q)S]yJ:q~Q, Jb'II-: I',.
max{llYlt:y = SBu, u e R " , y'SBB'Sy <_ p2} _ P
From this expression it is straightforward to verify that
This result implies that finding the desired maximum of IlxAll is PA = max{llSA(q)S -1 + S-IA'(q)SII:qEQJ. (A15)
equivalent to finding the maximum of IIx~ll subject to IIx,dl -< r
and IIx~ll -< p/.,/p~. Hence To show that (28) is satisfied with our selection ofpp, we fix x e R °
such that x'Px = ko and IIB'Pxll < p#K~:2. Let ~ = Sx. Then with r
I0, if r < S s [g0(x) - go(Y)l < max I(x + y)'(A'(q)P + PA(q))(x - y)l
q~Q
~: =
t r 2 _
[4r~/(r 2 -- p2/pN) - 4r 2 + 2p2/pN],
P
if r > ~/--Pu' (AI4)
Using the fact that 3~ef~, (recall r = ko~/2) we conclude that
B'Py = 0 and y'Py = ko. However, since (S) is u.u.b.q., condition
(2) and the matching conditions imply that
go(Z) <- - ? o
for all z e R" such that z'Pz > ~o and HB'Pzll = 0. Since y is such a
vector, it follows that
We are going to prove that the supremum o f f ( r ) is attained as r
tends to P/x/PN. To accomplish this, it suffices to show that go(Y) -< -Co.
df/dr < 0 for the case when r > P/x/PN. Indeed for such r, we first
observe that This, together with inequality (A17) implies that