0% found this document useful (0 votes)
16 views6 pages

Emilia 2024

Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
16 views6 pages

Emilia 2024

Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 6

2024 European Control Conference (ECC)

June 25-28, 2024. Stockholm, Sweden

Stability by averaging of linear discrete-time systems∗


Adam Jbaraa,† , Rami Katzb,† and Emilia Fridmanc

Abstract— Recently, a constructive approach to averaging- efficient upper bound on the small parameter ε. This time-
based stability was proposed for linear continuous-time sys- delay approach was also employed in [3], [7] for averaging
tems with small parameter ε > 0 and rapidly-varying almost of systems with constant/time-varying delays. Moreover,
periodic coefficients. The present paper extends this approach
to discrete-time linear systems with rapidly-varying periodic input-to-state stability (ISS), L2 -gain analysis and stochastic
coefficients. We consider linear systems with state delays, where extension of the time-delay approach were presented in [19].
results on the stability via averaging are missing. Differently In [18], the time-delay approach to averaging approach was
from the continuous-time, our linear matrix inequalities (LMIs) extended to discrete-time systems, also it was extended to
are feasible for any delay (i.e. the system is exponentially stable) ISS analysis of the perturbed systems, as well as to obtain
provided ε is small enough. We introduce an efficient change
of variables that leads to a perturbed averaged system, and practical stability of discrete-time switched affine systems.
employ Lyapunov analysis to derive LMIs for finding maximum Recently, a novel constructive approach for linear
values of the small parameter ε > 0 and delay that guarantee continuous-time systems with rapidly-varying almost peri-
the exponential stability. Numerical example illustrates the odic coefficients was introduced. Differently from the time-
effectiveness of the proposed approach. delay approach, the method of [9] relies on a novel non-
delayed transformation which yields simpler analysis and
I. I NTRODUCTION essentially less conservative results in the numerical exam-
ples. This approach is applicable to averaging of systems
Time-varying control systems with almost periodic coef- with both constant and time-varying delays, where for the
ficients arise in many modern engineering applications in- discrete-time the results are missing.
cluding satellite attitude and hypersonic vehicle flight control Our objective in this paper is to extend the approach
systems [1], [4], [5], [15], [16], [17]. Over the last few of [9] to the discrete-time systems, including systems with
decades these systems received a lot of attention from the constant delays. Although the fundamental ideas are inspired
control community [8], [11],[12], [13]. One of the most by the continuous case [9], construction of the appropriate
efficient methods for stability analysis of such systems is transformations and the subsequent Lyapunov analysis are
the method of averaging [2], [11], [14]. The main idea not immediately extendable from the continuous framework,
behind the averaging method relies on the approximation but rather require significant adaptation to the discrete-time
of the solutions of a time-varying system by solutions of a case. Linear discrete-time delayed systems with periodic co-
corresponding averaged system. The exponential stability of efficients are considered. Differently from [18], we start with
the averaged system guarantees the asymptotic stability of a new presentation of the system, where the system matrix
the original time-varying system for small enough parameter is presented as a linear combination of constant matrices
ε > 0. However, one of the main disadvantages of the multiplied by scalar rapidly-varying terms with zero average.
classical averaging method is the inability of providing an We then suggest a new discrete-time transformation of the
efficient quantitative upper bound on the small parameter ε rapidly-varying coefficient, and employ a direct Lyapunov
for which stability of the original system is preserved. method leading to stability conditions in the form of LMIs.
Recently, a constructive time-delay approach has been The LMIs are accompanied by theoretical guarantees on their
introduced for the periodic averaging of continuous-time feasibility for small enough values of the system parameters.
systems [7]. By averaging the system backwards in time, the Furthermore, differently from the continuous-time delayed
system was transformed into a model with time-delays of the case, we present conditions that guarantee stability of the
length of the small parameter. Stability of the transformed discrete-time system for arbitrary delay, provided ε is small
system was shown to imply the stability of the original enough. Numerical example illustrates the efficiency of the
system [7]. Then, direct Lyapunov-Krasovkii method was suggested method.
applied to obtain LMI-based conditions that guarantee input Notation: Rn denotes the n-dimensional Euclidean space
to state stability of the transformed system and provide an with norm | · |, and | · |1 is l 1 norm, Rn×m is the set of all
n × m real matrices with the induced matrix norm || · ||, 0n
∗ This work was supported by Israel Science Foundation (grant no.
and In are the zero matrix and the identity matrix of order
673/19), ISF-NSFC joint research program (grant no. 3054/23), Chana and n, respectively. Z+ is the set of non-negative integers. The
Heinrich Manderman Chair on System Control at Tel Aviv University. notation P > 0 for P ∈ Rn×n means that P is symmetric
† These authors contributed equally. and positive definite. col{} is a column array of column
a,b,c - School of Mathematical Sciences, Tel-Aviv Univer-
sity, Tel Aviv, Israel, (A. Jbara) adamjbara@mail.tau.ac.il, (R. Katz) scalars/vectors. The sub-diagonal elements of a symmetric
ramikatz@mail.tau.ac.il, (E. Fridman ) emilia@tauex.tau.ac.il. matrix are denoted by ∗, the superscript T denotes matrix

Copyright ©2024 EUCA 1655


transposition, and ⊗ denotes the Kronecker product. For where, for simplicity, we henceforth assume N = 2.
0 < P ∈ Rn×n and x ∈ Rn , we write |x|2P = xT Px. For two Clearly for small enough ε the matrix In − ∑2j=1 ρ j (k)A j
integers p and q with p ≤ q, the notation I[p, q] refers to the is invertible, i.e. transformation (8) is invertible. A sufficient
set {p, p + 1, ..., q}, we denote |w|[a,b] = maxs∈I[a,b] |ws | and condition for this is given by the following inequality:
O(ε) is the big O notation.
∑2j=1 εTa j,M ||A j ||
In the stability analysis below we will use the following: δ2 := <1 (9)
2
Lemma 1. (Jensen’s inequality [6, Chapter 6]) Let d ∈ Z+ where a j,M := supk∈Z |a j (k)|, j = 1, 2. Indeed, we have
and 0 < R ∈ Rn×n . For all k ∈ Z+ and any xi ∈ Rn , i ∈
2
I[k − d, k − 1], the following inequality holds:
sup || ∑ ρ j (k)A j || ≤ δ2 < 1, (10)
k∈Z+
1 k−1 k−1 j=1
| ∑ [xi+1 − xi ]|2R ≤ ∑ |xi+1 − xi |2R . (1)
d i=k−d and by employing a Neumann series and equation (10), we
i=k−d
obtain
II. S TABILITY ANALYSIS VIA AVERAGING OF !−1
2
DISCRETE - TIME SYSTEMS
sup In − ∑ ρ(k)Ai ≤ δ1 = (1 − δ2 )−1 . (11)
A. Problem formulation k∈Z+ j=1

Consider the discrete-time system: Using equations (5), (7) and (8), we obtain
xk+1 = [I + εA(k)]xk , (2) 2 2
zk+1 − zk = εAav zk − ε ∑ ∑ A j Am ρ j (k + 1)am (k)xk
where xk ∈ Rn ,
A(k) : Z+ → Rn×n ,
ε > 0 is a small parameter. j=1 m=1
System (2) (and further System (30)) can be regarded as the 2 2
discretization of the continuous-time system (2.1) ( system +ε ∑ ρ j (k)Aav A j xk − ε ∑ A j Aav ρ j (k + 1)xk . (12)
(3.1)) in [9]. j=1 j=1

Assumption 1. The matrices A(k), k ∈ Z+ satisfy Denoting


N A = [A1 , A2 ], A1 = [A1 A1 , A1 A2 , A2 A1 , A2 A2 ],
A(k) = Aav + ∑ ai (k)Ai , (3) (i)
Yρ (k) = col{ρ j (k + i − 1)xk }2j=1 , i = 1, 2,
i=1
Yρ,a (k) = col{ρ1 (k + 1)a1 (k)xk , ρ1 (k + 1)a2 (k)xk ,
where Aav is a Hurwitz matrix and {ai (k)}Ni=1 , k ∈ Z+ are ρ2 (k + 1)a1 (k)xk , ρ2 (k + 1)a2 (k)xk },
T -periodic with zero average i.e.
the transformation (8) and system (12) can be presented as
k+T −1
1 (1)
∑ a j (i) = 0, ∀k ≥ 0, ∀ j ∈ {1, 2, ..., N} . (4) zk = xk − A Yρ (k), (13)
T i=k (1)
zk+1 − zk = εAav zk + εAav A Yρ (k)
Using Assumption 1, we present (2) as
(2)
N
− εA (I2 ⊗ Aav )Yρ (k) − εA1 Yρ,a (k). (14)
xk+1 − xk = ε(Aav + ∑ a j (k)A j )xk . (5) Note that since ρ j = O(ε), (14) is of the form
j=1
zk+1 − zk = εAav zk + O(ε 2 ).
B. System transformation
For each j ∈ {1, 2, ..., N}, let us introduce Let
(1) (2)
Hρ = col{hρ , hρ },
k+T (1,1) (1,2) (2,1) (2,2) (15)
ε Hρ,a = col{hρ,a , hρ,a , hρ,a , hρ,a },
ρ j (k) =: − ∑ (k + T − i)a j (i). (6)
T i=k (m) (m, j)
where hρ , hρ,a , m, j = 1, 2 are bounds such that
Since a j is a T -periodic function (hence bounded) by As-
(m) (m. j)
sumption 1, one has ρ j = O(ε). Taking into account (4), ρm2 (k) ≤ hρ , ρm2 (k + 1)a2j (k) ≤ hρ,a , m, j = 1, 2. (16)

ε k+T Since ρ j (k) = O(ε), one has in (15): |Hρ |1 = O(ε 2 ) and
ρ j (k + 1) − ρ j (k) = − ∑ (k + T − i)a j (i) (7) |Hρ,a |1 = O(ε 2 ). Then, for all positive diagonal matrices
T i=k+1 (1) (2)
k+T k+T
Λρ , Λρ ∈ R2×2 and Λρ,a ∈ R4×4 the following hold:
ε ε
− ∑ a j (i) + ∑ (k + T − i)a j (i) = εa j (k). (1) (1) (1) (1)
T i=k+1 T i=k
Yρ (k)T (Λρ ⊗ In )Yρ (k) ≤ |Λρ Hρ |1 |xk |2 ,
(2) (2) (2) (2)
for all j ∈ {1, 2, ..., N} and k ∈ Z+ . Yρ (k)T (Λρ ⊗ In )Yρ (k) ≤ |Λρ Hρ |1 |xk |2 , (17)
Introduce the change of variables Yρ,a
T
(k)(Λρ,a ⊗ In )Yρ,a (k) ≤ |Λρ,a Hρ,a |1 |xk |2 .
N (1) (2)
zk = xk − ∑ ρ j (k)A j xk , (8) The matrices Λρ , Λρ and Λρ,a will be decision variables
j=1 in the LMIs derived below (see (27), (28)).

1656
C. Lyapunov analysis where
 
For stability analysis of (14) subject to (13), we introduce φ1 φ2 φ3
the Lyapunov function Ψ ε =  ∗ φ4 ε(I2 ⊗ Aav )T A T PA1  ,
∗ ∗ −(Λρ,a ⊗ In ) + εA1T PA1
V (k) = |zk |2P , P > 0 (18)  
B = β2 β3 β4 ,
and a decay rate α := 1 − εθ , where 0 ≤ θ < 1/ε. Denote 2
( j)
β1 = Qθ + ∑ |Λρ Hρ |1 In + |Λρ,a Hρ,a |1 In ,
Qθ (ε) := ATav P + PAav + θ P + εATav PAav . (19) j=1

Using (14), we obtain β2 = −Qθ A + (In + εAav )T PAav A ,

V (k + 1) − αV (k) = |zk |2εQθ + ε 2 Yρ,a


T
(k)A1T PA1 Yρ,a (k) β3 = −(In + εAav )T PA (I2 ⊗ Aav ),
(1),T (1) β4 = −(In + εAav )T PA1 ,
+ ε 2 Yρ (k)(Aav A )T P(Aav A )Yρ (k) (1)
(2),T (2) φ1 = −(Λρ ⊗ In ) + A T Qθ (ε)A
+ ε 2 Yρ (k)(I2 ⊗ Aav )T A T PA (I2 ⊗ Aav )Yρ (k)
(1)
+ ε(Aav A )T P(Aav A ) − (Aav A )T P(I + εAav )A
+ 2εzTk (I + εAav )T P(Aav A )Yρ (k)
− A T (In + εAav )T P(Aav A ),
(2)
− 2εzTk (I + εAav )T PA (I2 ⊗ Aav )Yρ (k) φ2 = A T (In + εAav )T PA (I2 ⊗ Aav )
− 2εzTk (I + εAav )T PA1 Yρ,a (k) − ε(Aav A )T PA (I2 ⊗ Aav ), (28)
(1),T (2)
− 2ε 2 Yρ (k)(Aav A )T PA (I2 ⊗ Aav )Yρ (k) φ3 = A (In + εAav ) PA1 − ε(Aav A ) PA1 ,
T T T
(1),T
− 2ε 2 Yρ (k)(Aav A )T PA1 Yρ,a (k) (2)
φ4 = −(Λρ ⊗ In ) + ε(I2 ⊗ Aav )T A T PA (I2 ⊗ Aav ).
(2),T
+ 2ε 2 Yρ (k)(I2 ⊗ Aav )T A T PA1 Yρ,a (k). (20) Summarizing, we arrive at:
Using (13), we present (20) as a quadratic in xk via: Theorem 1. Consider system (2) subject to Assumption 1
(1) , let Hρ , Hρ,a be defined by (16). Given tuning parameters
|zk |2εQ = |xk |2εQ − 2xkT εQθ (ε)A Yρ (k)
θ (ε) θ (ε) (21) θ > 0 and ε ∗ > 0 subject to θ ε ∗ < 1 and (9) with ε = ε ∗ .
(1),T (1)
+εYρ (k)A T Qθ (ε)A Yρ (k), Let there exist 0 < P ∈ Rn×n , and diagonal positive matrices
(1) (2)
(1) Λρ , Λρ ∈ R2×2 and Λρ,a ∈ R4×4 such that (27) with nota-
2εzTk (I + εAav )T P(Aav A )Yρ (k) = ∗ . Then, system (2) is exponentially
tion (28) holds for ε = ε √
(1),T (1)
−εYρ (k)A T (I + εAav )T P(Aav A )Yρ (k) stable with a decay rate 1 − θ ε for all ε ∈ (0, ε ∗ ], namely,
(1),T (1) (22)
−εYρ (k)(Aav A )P(I + εAav )A Yρ (k) there exists a M > 0 such that for all ε ∈ (0, ε ∗ ], the solution
(1)
+2εxkT (I + εAav )T P(Aav A )Yρ (k), of (2) initialized by x0 ∈ Rn satisfies
(2) |xk |2 ≤ M(1 − θ ε)k |x0 |2 , ∀k ∈ Z+ . (29)
−2εzTk (I + εAav )T PA (I2 ⊗ Aav )Yρ (k) =
(2)
−2εxkT (I + εAav )T PA (I2 ⊗ Aav )Yρ (k) Morover, if (9) and (27) hold with ε = ε∗
and θ = 0, then
(1),T (2) (2) is exponentially stable for all ε ∈ (0, ε ∗ ]. The inequalities
+2εYρ (k)A T (I + εAav )T PA (I2 ⊗ Aav )Yρ (k), (9) and (27) are always feasible for small enough ε and θ .
(23)
−2εzTk (I + εAav )T PA1 Yρ,a (k) = Proof. Due to space limitations, the proof is omitted.
−2εxkT (I + εAav )T PA1 Yρ,a (k) (24)
(1),T III. S TABILITY OF THE DISCRETE - TIME SYSTEMS WITH
+2εYρ (k)A (I + εAav ) PA1 Yρ,a (k).
T T
CONSTANT DELAYS
Let A. Problem formulation
(1) (2)
η(k) = col{xk , Yρ (k), Yρ (k), Yρ,a (k)}, Using the new transformation, which is based on sum-
(1) (1),T (1) (1) mation of the rapidly varying coefficients only (and does
W1 := |Λρ Hρ |1 |xk |2 − Yρ (k)(Λρ ⊗ In )Yρ (k), not include the state inside of the summation like in the
(2) (2),T (2) (2)
W2 := |Λρ Hρ |1 |xk |2 − Yρ (k)(Λρ ⊗ In )Yρ (k), time-delay approach [18]), we present stability conditions
for discrete-time systems with delays. Consider the system
W3 := |Λρ,a Hρ,a |1 |xk |2 − Yρ,a
T
(k)(Λρ,a ⊗ In )Yρ,a (k). (25)
xk+1 = (In + εA0 )xk + εAD (k)xk−d , k ∈ Z+ , (30)
Then, (17) implies that Wm ≥ 0 for all m = 1, 2, 3. Using
(17)-(25) and the S-procedure [6], we arrive at where d is a positive integer.
V (k + 1) − αV (k) ≤ V (k + 1) − αV (k) + ε ∑3m=1 Wm Assumption 2. Assume that AD (k), k ∈ Z+ is of the form:
≤ εη T (k)Φε η(k) ≤ 0, Nd
(26) AD (k) = Ad + ∑ am (k)Am , (31)
Provided m=1
N
 
β1 B where Aav =: A0 + Ad is Hurwitz and {am (k)}m=1 d
are T -
Φε = < 0, (27)
∗ Ψε periodic with the zero average (i.e. satisfy (4)).

1657
B. System transformation C. Lyapunov analysis
We modify the transformation (8) to account for the delay: For stability analysis of (35) subject to (37), introduce the
Nd Lyapunov function
zk = xk − ∑ ρm (k)Am xk−d , k ≥ d. (32) 2
!
m=1 V (k) = VP (k) + ε ∑ VSm (k) +VR (k) , (40)
For simplicity of the presentation, we assume Nd = 2. Let m=1
VP (k) = |zk |2P , P > 0, (41)
ξk = xk − xk−d , k ∈ Z+ .
k−1
By employing (4), (7) and (30) - (32) we obtain VSm (k) = ∑ α k−i−1 |xi |2Sm , m = 1, 2, Sm > 0, (42)
i=k−m·d
zk+1 − zk = εAav zk − εAd ξk −1 k−1
+ε ∑2m=1 Aav Am ρm (k)xk−d VR (k) = d ∑ ∑ α k−s−1 |xs+1 − xs |2R , R > 0. (43)
−ε ∑2m=1 Am A0 ρm (k + 1)xk−d (33) i=−d s=k+i
−ε ∑2m=1 Am Ad ρm (k + 1)xk−2d and a desired decay rate α := 1 − εθ , where 0 ≤ θ < 1/ε.
−ε ∑2m=1 ∑2i=1 Am Ai ρm (k + 1)ai (k − d)xk−2d , Here VS1 and VR compensate xk−d , whereas VS2 compensates
Since ρ j (k) = O(ε), equation(33) has the form xk−2d in the stability analysis. Then,

zk+1 − zk = εAav zk − εAd ξk + O(ε 2 ). VP (k + 1) − αVP (k) = ε|zk |2Qθ + ε 2 ξkT ATd PAd ξk
Denote + ε 2 Yρ,d (k)T Aρ,d
T
PAρ,d Yρ,d (k)
+ ε 2 Yρ,a,d (k)T A1T PA1 Yρ,a,d (k)
Ya,d (k) = col{a j (k)xk−d }2j=1 ,
(m) + ε 2 Yρ,2d (k)T [A (I2 ⊗ Ad )]T P[A (I2 ⊗ Ad )]Yρ,2d (k)
Yρ,d (k) = col{ρ j (k + m − 1)xk−d }2j=1 , m = 1, 2,
− 2εzTk (I + εAav )T PAd ξk
( j)
Yρ,d (k) = col{Yρ,d (k)}2j=1 , (34) + 2εzTk (I + εAav )T PAρ,d Yρ,d (k)
Yρ,2d (k) = col{ρ j (k + 1)xk−2d }2j=1 , − 2εzTk (I + εAav )T PA (I2 ⊗ Ad )Yρ,2d (k) (44)
Yρ,a,d (k) = col{ρ1 (k + 1)a1 (k − d)xk−2d , − 2εzTk (I + εAav )T PA1 Yρ,a,d (k)
ρ1 (k + 1)a2 (k − d)xk−2d , ρ2 (k + 1)a1 (k − d)xk−2d , − 2ε 2 ξkT ATd PAρ,d Yρ,d (k) + 2ε 2 ξkT ATd PA1 Yρ,a,d (k)
ρ2 (k + 1)a2 (k − d)xk−2d }, + 2ε 2 ξkT ATd PA (I2 ⊗ Ad )Yρ,2d (k)
A = [A , 0n×n , 0n×n ], Aρ,d = [Aav A , −A (I2 ⊗ A0 )].
˜
− 2ε 2 Yρ,d (k)T Aρ,d
T
PA (I2 ⊗ Ad )Yρ,2d (k)
Then, (33) can be presented as − 2ε Yρ,d (k) Aρ,d PA1 Yρ,a,d (k)
2 T T

zk+1 − zk = εAav zk − εAd ξk + εAρ,d Yρ,d (k) + 2ε 2 Yρ,2d (k)T [A (I2 ⊗ Ad )]T PA1 Yρ,a,d (k),
− εA (I2 ⊗ Ad )Yρ,2d (k) − εA1 Yρ,a,d (k), (35)
where Qθ is defined in (19). Substituting zk = xk − A˜Yρ,d (k)
whereas due to (30), (32) we have in (44) , we get

˜ − 2xk Qθ A Yρ,d (k),


xk+1 − xk = εAav xk − εAd ξk−d + εA Ya,d (k), (36) |zk |2Qθ = |xk |2Qθ + |Yρ,d (k)|2A˜T Q T ˜ (45)
θA
zk = xk − A˜Yρ,d (k). (37) − 2εzTk (In + εAav )T P[Ad ξk − Aρ,d Yρ,d (k)
(1) (2)
Let Ha = col{ha , ha } and Hρ , Hρ,a be as in (15), where + A (I2 ⊗ Ad )Yρ,2d (k) + A1 Yρ,a,d (k)] =
(m) (m) (m, j)
ha , hρ , hρ,a satisfy, for all k ∈ Z+ , − 2ε[xk − A˜Yρ,d (k)]T (I + εAav )T P · [Ad ξk (46)
(m) (m) − Aρ,d Yρ,d (k) + A (I2 ⊗ Ad )Yρ,2d (k) + A1 Yρ,a,d (k)].
a2m (k) ≤ ha , ρm2 (k) ≤ hρ ,
(m. j) (38) Along system (30), VS j , j = 1, 2 are evaluated as
ρm2 (k + 1)a2j (k − d) ≤ hρ,a , m, j ∈ {1, 2}.
Since ρ j (k) = O(ε), we have |Hρ |1 = O(ε 2 ) and |Hρ,a |1 = VS1 (k + 1) − αVS1 (k) = (1 − α d )|xk |2S1 (47)
O(ε 2 ). Then, for any diagonal positive matrices Λa , Λρ,2d ∈ −α d
|ξk |2S1+ 2α d xkT S1 ξk ,
R2×2 and Λρ,a , Λρ,d ∈ R4×4 the following holds:
VS2 (k + 1) − αVS2 (k) = |xk |2S2 − α 2d
|xk−2d |2S2 . (48)
Ya,d
T
(k)(Λa ⊗ In )Ya,d (k) ≤ |Λa Ha |1 |xk−d |2 ,
Let
Yρ,d
T
(k)(Λρ,d ⊗ In )Yρ,d (k) ≤ |Λρ,d (I2 ⊗ Hρ )|1 |xk−d |2 ,
L = [Aav , −Ad , 0n×4n , 0n×2n , A , 0n×4n ], (49)
Yρ,2d
T
(k)(Λρ,2d ⊗ In )Yρ,2d (k) ≤ |Λρ,2d Hρ |1 |xk−2d |2 ,
ηk = col{xk , ξk , Yρ,d (k), Yρ,2d (k), Ya,d (k), Yρ,a,d (k)},
Yρ,a,d
T
(k)(Λρ,a ⊗ In )Yρ,a,d (k) ≤ |Λρ,a Hρ,a |1 |xk−2d |2 . (39)
By Jensen’s inequality (1), we obtain
The matrices Λa , Λρ,a , Λρ,d and Λρ,2d will be decision
variables in the LMIs derived below (see (53), (54)). VR (k + 1) − αVR (k) ≤ ε 2 d 2 ηk,d
T
L T RL ηk,d − α d ξkT Rξk . (50)

1658
Define exists M > 0 such that for all ε ∈ (0, ε ∗ ] and 0 ≤ d ≤ d ∗ , the
solution of (30) initialized at {x j }0j=−d satisfies
W := −εηkT Πηk + ελ2d |xk−2d |2 + ελd |xk − ξk |2 ,
λd := |Λa Ha |1 + |Λρ,d (I2 ⊗ Hρ )|1 , |xk |2 ≤ M |x|2[−d,0] (1 − θ ε)k−d , ∀d ≤ k ∈ Z+ . (55)
λ2d := |Λρ,2d Hρ |1 + |Λρ,a Hρ,a |1 , (51) Moreover, if (53) and δ2 < α d hold with ε = ε ∗ , d = d ∗ and
Π = diag{0n , Π },(1) θ = 0, then (30) is exponentially stable for all ε ∈ (0, ε ∗ ]
and 0 ≤ d ≤ d ∗ . Also, given any d, the inequalities (53) and
Π(1) := diag{0, Λρ,d , Λρ,2d , Λa , Λρ,a } ⊗ In .
δ2 < α d are always feasible for small enough ε and θ .
Then, (39) implies that W ≥ 0. Using (39)-(51) and the S-
Proof. The fact that feasibility of (53) and δ2 < α d with
procedure [6], we arrive at
ε ∗ , d ∗ implies feasibility for all ε < ε ∗ , d < d ∗ , follows by
V (k + 1) − αV (k) ≤ V (k + 1) − αV (k) +W monotonicity of (53), and δ2 < α d with respect to ε < ε ∗ ,
d < d ∗ (i.e., as the small parameters decrease, the eigenvalues
≤ εηkT (Θε,d + ε 2 d 2 L T RL )ηk of (53) are non-increasing).
T
+ εxk−2d (−α 2d S2 + λ2d In )xk−2d ≤ 0, (52) Feasibility of (53), and δ2 < α d implies that for all d ≤
k ∈ Z+ ,
provided
V (k + 1) − αV (k) ≤ 0 ⇒ V (k + 1) ≤ α k+1−d V (d),
Θε,d + ε 2 d 2 L T RL < 0, −α 2d S2 + λ2d In < 0, (53) d−1
V (d) = |zd |2P + ∑2m=1 ∑i=d−m·d α d−i−1 |xi |2Sm
−1 d−1
where +d ∑i=−d ∑s=d+i α d−s−1 |xs+1 − xs |2R .
  (56)
β B Also, V (k) ≥ σmin (P)|zk |2 , for any d ≤ k ∈ Z+ . Thus, there
= 1
 
Θε,d , B = β2 β3 β4 0n×2n β5 ,
∗ Ψε,d exists some M1 > 0 such that
ω1 ω2 ω3 0n×2n εATd PA1
 
 ∗ ω4 ω5 04n×2n ω6  |zk |2 ≤ M1 |x|2[−d,0] α k−d , d ≤ k ∈ Z+ . (57)
(1) 
 
Ψε,d = −Π +  ∗ ∗ ω7 02n×2n ω8  , To conclude the same for the solution xk of the system (30),
∗ ∗ ∗ 02n×2n 02n×4n  for any i ∈ Z+ , we denote Xi = |x|2[id,(i+1)d] . From (9), (33)
∗ ∗ ∗ ∗ εA1T PA1 and (57), we find that
β1 = Qθ + (1 − α d )S1 + S2 + λd In , α = 1 − θ ε,
Xi+1 ≤ M2 α id + δ2 Xi , i ∈ Z+ ,
d T
β2 = α S1 − (In + εAav ) PAd − λd In ,
where M2 = M1 |x|2[−d,0] . Set Y1 = X1 and consider the linear
β3 = −Qθ A˜ + (In + εAav )T PAρ,d , difference equation
β4 = −(In + εAav )T PA (I2 ⊗ Ad ),
Yi+1 = M2 α id + δ2Yi , i ∈ Z+ . (58)
β5 = −(In + εAav )T PA1 ,
By induction, we obtain Xi ≤ Yi for all i ∈ Z+ . Moreover,
ω1 = εATd PAd − α d (S1 + R) + λd In ,
the solution of (58) is given by Yi = µd α (i−1)d + δ2i−1 (X1 −
ω2 = AT P(In + εAav )A˜ − εAT PAρ,d ,
d d (54) M2 α
µd ), i ∈ Z+ , where µd = α−δ . Note that Yi is decreasing.
2
ω3 = εAd PA (I2 ⊗ Ad ), ω4 = εAρ,d PAρ,d + A Qθ A
T T ˜T ˜ Let k ∈ Z+ such that k ∈ I[id, (i + 1)d]. Then
− A˜T (In + εAav )T PAρ,d − Aρ,d
T
P(In + εAav )A˜, |xk |2 ≤ X j ≤ δ2i−1 (X1 − µd ) + µd α id−d
T k−d
ω5 = −εAρ,d PA (I2 ⊗ Ad )+ ≤ δ2 d (X1δ−µd ) + µd α −d α k−d
2
A˜T (In + εAav )T PA (I2 ⊗ Ad ),
 
≤ (X1δ−µd ) + µd α −d α k−d ,
2
T
ω6 = −εAρ,d PA1 + A˜T (In + εAav )T PA1 ,
where the last inequality follows from δ2 < α d , which proves
(55).
ω7 = ε[A (I2 ⊗ Ad )]T P[A (I2 ⊗ Ad )].
For LMI feasibility guarantees, choose Λa = Λρ,2d = λ1 I2 ,
ω8 = ε[A (I2 ⊗ Ad )]T PA1 . Λρ,a = Λρ,d = λ1 I4 , R = λ1 In , S1 = λd In , where λ1 > λd ,
Summarizing, we arrive at: S2 = λ2 In where λ2 = 2λ2d (keep in mind that λ2d = O(ε 2 )).
For θ = 0 (so α = 1), the inequality −α 2d S2 + λ2d In < 0
Theorem 2. Consider system (30) subject to Assumption 2, hold, and also for any d there is a small enough ε such
let Ha , Hρ , Hρ,a , be defined by (38). Given positive tuning

that ε 2 d 2 L T RL and δ2 < α d (since δ2 = O(ε)) are small
parameters θ , d ∗ , and ε ∗ subject to δ2 < α d and θ ε ∗ < 1. enough, while Θε,d is independent of d. Therefore, by
n×n
Let there exist 0 < P, S1 , S2 , R ∈ R , and diagonal positive choosing θ = 0 , d = 0, (so α = 1), it is enough to prove
(1) (2)
matrices Λa , Λρ , Λρ , Λρ,2d ∈ R2×2 and Λρ,a ∈ R4×4 such that Θε,d < 0. Also there is a 0 < P ∈ Rn such that β1 < 0
that (53) with notations (49), (51), (54) holds with ε = ε ∗ and for small enough ε (see (19), Assumption 2). It is easily
d = d√∗ . Then system (30) is exponentially stable with a decay seen that Ψε,d < 0 for large enough λ1 and small enough
rate 1 − θ ε for all ε ∈ (0, ε ∗ ] and 0 ≤ d ≤ d ∗ . Namely, there ε > 0. Next, we apply Schur complement with respect to

1659
Θε,d , whence Θε,d < 0 iff β1 − λ1 B(λ1−1 Ψε,d )−1 BT < 0. Note
1
that −(λ1−1 Ψε,d )−1 is bounded as λ1 → ∞ (converges to
the identity matrix), whereas B and β1 are independent of
λ1 implying the feasibility of Θε,d . Thus, for any large d,
there exist small enough ε ∗ and θ such that feasibility is
assured.

D. Numerical example
Example 2: (Stabilization by fast switching [10]) Consider
(30) with A0 = 0 and
(
A1 , k ∈ [100nε, 100(n + 0.4)ε),
AD (k) = (59)
A2 , k ∈ [100(n + 0.4)ε, 100(n + 1)ε),
Fig. 1. The trajectory of the Euclidean norm of the system state xi converges
where to the origin. Zoom plot of the graph is also provided.
   
0.1 0.3 −0.13 −0.16
A1 = , A2 = . (60)
0.6 −0.2 −0.33 0.03
Given k ∈ Z+ , (59) can be written as R EFERENCES
AD (k) = χ[100nε,100(n+0.4)ε) (k)A1 + [1 − χ[100nε,100(n+0.4)ε) (k)]A2 , [1] H. An, Q. Wu, H. Xia, and C. Wang. Control of a time-varying
hypersonic vehicle model subject to inlet un-start condition. Journal
where χ[100nε,100(n+0.4)ε) (k) is an indicator function. Here, of the Franklin Institute, 355(10):4164–4197, 2018.
AD (k) can be presented as (31) with [2] F. Bullo. Averaging and vibrational control of mechanical systems.
  SIAM Journal on Control and Optimization, 41(2):542–562, 2002.
−0.038 0.024 [3] B. Caiazzo, E. Fridman, and X. Yang. Averaging of systems with
Ad = , fast-varying coefficients and non-small delays with application to sta-
0.042 −0.062
bilization of affine systems via time-dependent switching. Nonlinear
A1 and A2 given by (60) and Analysis: Hybrid Systems, 48:101307, 2023.
( [4] X. Cheng, Y. Tan, and I. Mareels. On robustness analysis of linear
0.6, k ∈ [100nε, 100(n + 0.4)ε), vibrational control systems. Automatica, 87:202–209, 2018.
a1 (k) = , [5] R. H. Christensen and I. Santos. Design of active controlled rotor-
−0.4, k ∈ [100(n + 0.4)ε, 100(n + 1)ε),
blade systems based on time-variant modal analysis. Journal of sound
and vibration, 280(3-5):863–882, 2005.
(
−0.6, k ∈ [100nε, 100(n + 0.4)ε), [6] E. Fridman. Introduction to time-delay systems: analysis and control.
a2 (k) = .
0.4, k ∈ [100(n + 0.4)ε, 100(n + 1)ε), Birkhauser, Systems and Control: Foundations and Applications, 2014.
[7] E. Fridman and J. Zhang. Averaging of linear systems with almost
An explicit computation of ρm (k), m = 1, 2 yields |ρm (k)| ≤ periodic coefficients: A time-delay approach. Automatica, 122:109287,
(m) 2020.
εhρ = 0.6ε, ∀k ∈ Z+ . We consider θ ∈ {0, 0.01}, ε = 0.05.
[8] C. J. Harris and M. JF. Stability of linear systems: some aspects of
Note that with some simply calculations, it is easily shown kinematic similarity. 1980.
that (9) holds for ε = 0.05. Verify the LMIs of Theorem 2 [9] R. Katz, E. Fridman, and F. Mazenc. Constructive method for
to obtain the maximal value d which preserves feasibility of averaging-based stability via a delay free transformation. To appear
in Autmatica, 2024.
the LMIs. We find the corresponding upper bounds d ∗ that [10] R. Katz, F. Mazenc, and E. Fridman. Stability by averaging via time-
guarantees the system’s exponential stability for all 0 ≤ ε ≤ varying lyapunov functions. 22nd IFAC World Congress. To appear.,
ε ∗: 2023.
[11] H. K. Khalil. Nonlinear Systems. Prentice Hall, 3rd edition, 2002.
θ = 0, d ∗ = 28; θ = 0.01, d ∗ = 5. [12] P. Li, J. Lam, R. Lu, and K.-W. Kwok. Stability and l 2 synthesis of a
class of periodic piecewise time-varying systems. IEEE Transactions
We further provide simulations of system with a fixed ε = on Automatic Control, 64(8):3378–3384, 2018.
0.05, d = 28 and an initial condition xi = [1, −0.5]T , ∀i ∈ [13] F. Mazenc, M. Malisoff, and M. S. De Queiroz. Further results on
I[−d, 0]. The results are shown in Fig. 1. We see that the strict Lyapunov functions for rapidly time-varying nonlinear systems.
Automatica, 42(10):1663–1671, 2006.
system state converges to the origin, which demonstrates the [14] S. Meerkov. Principle of vibrational control: theory and applications.
efficacy of the proposed method. IEEE Transactions on Automatic Control, 25(4):755–762, 1980.
[15] H. Sandberg and E. Möllerstedt. Periodic modelling of power systems.
IV. C ONCLUSION IFAC Proceedings Volumes, 34(12):89–94, 2001.
This paper presents a novel quantitative approach to av- [16] R. Wisniewski. Linear time-varying approach to satellite attitude
control using only electromagnetic actuation. Journal of Guidance,
eraging for stability of discrete-time systems with rapidly- Control, and Dynamics, 23(4):640–647, 2000.
varying periodic coefficients. By applying a novel system [17] X. Xie and J. Lam. Guaranteed cost control of periodic piecewise
representation, state transformation and further employing a linear time-delay systems. Automatica, 94:274–282, 2018.
[18] X. Yang, J. Zhang, and E. Fridman. Periodic averaging of discrete-time
direct Lyapunov method, explicit LMI conditions for stability systems: A time-delay approach. IEEE Transactions on Automatic
were derived. The LMIs provides upper bounds on the small Control, 2022.
parameters that preserve exponential stability of the original [19] J. Zhang and E. Fridman. L2 -gain analysis via time-delay approach to
periodic averaging with stochastic extension. Automatica, 137:110126,
system. The method was extended to linear discrete systems 2022.
with constant delay. Future work may include improvement
of the method, its extension to time-varying delays and its
control applications such as averaging-based control.

1660

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy