a global rational arnoldi method for model reduction abstract in this paper we propose two new approaches for model order reduction of large scale multi input multi output mimo linear time invariant dynamical systems lti these methods are based on a generalization of the global arnoldi algorithm which is used to generate projection subspaces an adaptive procedure for the selection of shift parameters is proposed and some simple arnoldi relations are established in order to compute error bounds on the transfer function numerical experiments showing the effectiveness of these approaches are provided

comparison between h sub 2 and h sub infinity controllers the h sub infinity performances of a controller designed by h sub 2 methodology and a controller designed by h sub infinity methodology are quantitatively compared it is shown that the ratio of the h sub infinity performance of the two is no greater than 2k for the one block problem where k is the total number of right half plane transmission zeros for two subsystems namely the subsystem between the disturbance and the measurement and the subsystem between the control signal and the controlled output it is also shown that there are systems which can give a ratio arbitrarily close to the upper bound however those systems are of a pathological type some possible generalizations to two and four block problems are discussed

model reduction of nonstationary lpv systems this paper focuses on the model reduction of nonstationary linear parameter varying nslpv systems we provide a generalization of the balanced truncation procedure for the model reduction of stable nslpv systems along with a priori error bounds then for illustration purposes this method is applied to reduce the model of a two mass translational system furthermore we give an approach for the model reduction of stabilizable and detectable systems which requires the development and use of coprime factorizations for nslpv models for the general class of eventually periodic lpv systems which includes periodic and finite horizon systems as special cases our results can be explicitly computed using semidefinite programming

on the partial stochastic realization problem we describe a complete parameterization of the solutions to the partial stochastic realization problem in terms of a nonstandard matrix riccati equation our analysis of this covariance extension equation cee is based on a complete parameterization of all strictly positive real solutions to the rational covariance extension problem answering a conjecture due to georgiou 1987 in the affirmative we also compute the dimension of partial stochastic realizations in terms of the rank of the unique positive semidefinite solution to the cee yielding some insights into the structure of solutions to the minimal partial stochastic realization problem by combining this parameterization with some of the classical approaches in partial realization theory we are able to derive new existence and robustness results concerning the degrees of minimal stochastic partial realizations as a corollary to these results we note that in sharp contrast with the deterministic case there is no generic value of the degree of a minimal stochastic realization of partial covariance sequences of fixed length

characterization of the solution to the optimal h model reduction problem abstract in this paper the h norm approximation of a given stable proper rational transfer function by a lower order stable proper rational transfer function is studied the solution method is based on the authors observation that the h model reduction problem can be converted into a hankel norm model reduction problem a simple characterization of the solution to the optimal h model reduction problem is developed

frequency weighted spl lscr sub spl infin norm and optimal hankel norm model reduction a new relative error model reduction method is proposed using frequency weighted balanced realization and explicit spl lscr sub spl infin norm error bounds are also derived for the relative error and multiplicative error the method only needs to solve two lyapunov equations it is further shown that this method is equivalent to the balanced stochastic truncation if the plant is square and minimum phase this paper also gives a complete solution to the frequency weighted hankel norm approximation with antistable weighting these results are then applied to spl lscr sub spl infin norm model reduction and several numerically effective algorithms are proposed it is shown through many numerical examples that these algorithms work very well and in many cases produce almost optimal solutions

l error bound for the phase matching approximation the one step at a time hankel norm model reduction version parallel to what was done for the balanced model reduction version of the phase approximation problem see li and jonckheere 1987 this paper provides an l bound on the phase approximation error when one step at a time optimal hankel norm model reduction is used to reduce the stable projection of the phase function matrix the one step at a time hankel norm procedure allows for an l phase error bound twice as small as that of the balanced version

on low complexity approximation of matrices the operation multiplication of a vector by a matrix can be represented by a computational scheme or model that acts on the entries of the vector sequentially the number of intermediate quantities states that are needed in the computations is a measure of the complexity of the model if that complexity is low then not only multiplication but also other operations such as inversion can be carried out efficiently using the model rather than the original matrix in the introductory sections we describe an algorithm to derive a computational model of minimal complexity that gives an exact representation of an arbitrary upper triangular matrix the main result of the paper is an algorithm for computing an approximating matrix with a model of much lower complexity than the original as low as possible for a given tolerance on the approximation error as measure for the tolerance we will use a strong norm which we will call the hankel norm it is a generalization of the hankel norm which is used in the classical model approximation theory for complex analytical functions

a boundary condition with memory for kirchhoff plates equations in this paper we study the stability of solutions for kirchhoff plates equations with a memory condition working at the boundary we show that such dissipation is strong enough to produce exponential decay to the solution provided the relaxation functions also decays exponentially when the relaxation functions decays polynomially we show that the solution decays polynomially and with the same rate

on stochastic model reduction in a recent paper by zhou and khargonekar 2 an example seemed to indicate that the stochastic model reduction procedure of jonckheere and helton 1 falls short of what could actually be achieved in this note we show that a variant of the algorithm of jonckheere and helton already proposed in the original manuscript 1 sect iv c yields results competitive with those of zhou and khargonekar 2

l sub 2 optimal filter reduction a closed loop approach this paper is concerned with the problem of order reduction of a full order kalman filter for a stable linear signal model so that the steady state filtering error variance associated with the reduced order filter is minimized by an orthogonal parameterization the above problem is formulated to minimize the filtering error variance over a set of orthogonal matrices both continuous and iterative algorithms are derived to compute an optimal reduced order filter the algorithms are shown to possess good properties including the desirable convergence property the proposed algorithms are simple and effective numerical examples are presented to demonstrate the effectiveness and the significant advantages of the proposed algorithms over the existing open loop methods such as the well known balanced truncation method

robust stabilization of infinite dimensional systems by finite dimensional controllers abstract the problem of robustly stabilizing an infinite dimensional system with transfer function g subject to an additive perturbation is considered it is assumed that g b 0 of systems introduced by callier and desoer 3 the perturbation satisfies w1 w2 c now write w1gw2 g1 g1 where g1 is rational and totally unstable and g2 is stable generalizing the finite dimensional results of glover 12 this family of perturbed systems is shown to be stabilizable if and only if min g 1 the smallest hankel singular value of g 1 a finite dimensional stabilizing controller is then given by k w 2 k 1 i g 2 k 1 1 w 1 where 2 is a rational approximation of g2 such that g 2 g 2 min g 1 and k1 robustly stabilizes g1 to margin the feedback system g k will then be stable if w1 w2

a non iterative method for computing the infimum in h optimization this paper presents a simple and non iterative procedure for the computation of the exact value of the infimum in the singular h optimization problem and is an extension of our earlier work the problem formulation is general and does not place any restriction on the direct feedthrough terms between the control input and the controlled output variables and between the disturbance input and the measurement output variables our method is applicable to a class of singular h optimization problems for which the transfer functions from the control input to the controlled output and from the disturbance input to the measurement output have no invariant zeros on the jw axis and also satisfy certain geometric conditions the computation of the infimum in our method involves solving two well defined riccati and two lyapunov equations

spectral analysis in linear process identification a new look at an old problem the problem of estimating the transfer function frequency response of a linear process by means of a modified spectral analysis method is treated a method of determining the maximum time lags of the correlation functions which makes use of the available a priori physical knowledge about the process and the input signal is proposed this leads in a natural way to the use of an asymmetrical window technique some simulation results are used to illustrate the method based on the asymptotic properties of the estimate the input design is studied finally it will be shown that this work can be used for the estimation of an upper bound of the model uncertainty in the frequency domain

all optimal hankel norm approximations of linear multivariable systems and their l error bounds the problem of approximating a multivariable transfer function g s of mcmillan degree n by s of mcmillan degree k is considered a complete characterization of all approximations that minimize the hankel norm is derived the solution involves a characterization of all rational functions s f s that minimize where s has mcmillan degree k and f s is anticavisal the solution to the latter problem is via results on balanced realizations all pass functions and the inertia of matrices all in terms of the solutions to lyapunov equations it is then shown that where k 1 g s is the k l st hankel singular value of g s and for one class of optimal hankel norm approximations the method is not computationally demanding and is applied to a 12 state model

an l error bound for the phase approximation problem given a random process spectral factor w cdot the phase approximation algorithm initiated by jonckheere and helton 1 constructs a reduced order spectral factor hat w cdot such that parallel w w ast hat w hat w ast parallel is small in the hankel norm sense in this note we derive the l infty error bound parallel w w ast hat w hat w ast parallel infty leq 4 sigma k 1 sigma n where the s are the canonical correlation coefficients a similar result holds in the multivariable case

model reduction by balanced truncation for systems with nuclear hankel operators we prove the h infinity error bounds for lyapunov balanced truncation and for optimal hankel norm approximation under the assumption that the hankel operator is nuclear this is an improvement of the result from glover curtain and partington siam j control optim 26 1998 pp 863 898 where additional assumptions were made the proof is based on convergence of the schmidt pairs of the hankel operator in a sobolev space we also give an application of this convergence theory to a numerical algorithm for model reduction by balanced truncation

bifurcation from interval and positive solutions of a nonlinear fourth order boundary value problem abstract we study the existence of positive solutions of the nonlinear boundary value problem u 4 t f t u t u t t 0 1 u 0 u 1 u 0 u 1 0 which is not necessarily linearizable our approaches are based on krein rutman theorem topological degree theory and global bifurcation techniques

frequency dependent error bounds for uncertain linear models we study frequency dependent error bounds for approximation and truncation of linear dynamic models with uncertainty a possible application is in model simplification relevant for control design the uncertainty is described by quadratic constraints and the error bounds are calculated based on solutions to linear matrix inequalities

a subspace algorithm for balanced state space system identification in an earlier paper by moonen et at 1989 an algorithm has been introduced for identifying multivariable linear systems directly from input output data this new algorithm falls in the class of so called subspace methods and resembles impulse response based realization algorithms in this paper we extend this algorithm by incorporating a balancing step such that the identified model is always in balanced coordinates with this modification one obtains a data driven counterpart for kung s realization algorithm

balanced realizations canonical form parametrization model reduction abstract balanced realizations are used to construct a canonical form for the set of minimal and asymptotically stable mimo systems of a given order a parametrization resutt is derived that allows us to show a truncation property of this canonical form

a new estimation of the lower error bound in balanced truncation method abstract for a single input single output siso linear time invariant dynamical system the standard h norm lower error bound of balanced truncation method is g s g r s h r 1 where i i 1 n are the hankel singular values of system in decreasing order in this paper we provide a new estimation of the lower error namely g s g r s h max d 2 i j s i i where s i is the sign associated with the hankel singular value i in ober s canonical form the subset j and the index d in the above inequality will be introduced in the paper we show by means of an example that the new bound may be relevant in deciding which states need to be kept in the balanced truncation method and that using the standard result does not always yield the best approximation

principal component analysis in linear systems controllability observability and model reduction kalman s minimal realization theory involves geometric objects controllable unobservable subspaces which are subject to structural instability specifically arbitrarily small perturbations in a model may cause a change in the dimensions of the associated subspaces this situation is manifested in computational difficulties which arise in attempts to apply textbook algorithms for computing a minimal realization structural instability associated with geometric theories is not unique to control it arises in the theory of linear equations as well in this setting the computational problems have been studied for decades and excellent tools have been developed for coping with the situation one of the main goals of this paper is to call attention to principal component analysis hotelling 1933 and an algorithm golub and reinsch 1970 for computing the singular value decompositon of a matrix together they form a powerful tool for coping with structural instability in dynamic systems as developed in this paper principal component analysis is a technique for analyzing signals singular value decomposition provides the computational machinery for this reason kalman s minimal realization theory is recast in terms of responses to injected signals application of the signal analysis to controllability and observability leads to a coordinate system in which the internally balanced model has special properties for asymptotically stable systems this yields working approximations of x c x bar o the controllable and unobservable subspaces it is proposed that a natural first step in model reduction is to apply the mechanics of minimal realization using these working subspaces

probability one homotopy algorithms for solving the coupled lyapunov equations arising in reduced order h2 h modeling estimation and control optimal reduced order modeling estimation and control with respect to combined h 2 h criteria give rise to coupled lyapunov and riccati equations to develop reliable numerical algorithms for these problems this paper focuses on the coupled lyapunov equations which appear as a subset of the synthesis equations in particular this paper systematically examines the requirements of probability one homotopy algorithms to guarantee global convergence homotopy algorithms for nonlinear systems of equations construct a continuous family of systems and solve the given system by tracking the continuous curve of solutions to the family the main emphasis is on guaranteeing transversality for several homotopy maps based upon the pseudogramian formulation of the coupled lyapunov equations and variations based upon canonical forms these results are essential to the probability one homotopy approach by guaranteeing good numerical properties in the computational implementation of the homotopy algorithms

brief paper positivity preserving h model reduction for positive systems this paper is concerned with the model reduction of positive systems for a given stable positive system our attention is focused on the construction of a reduced order model in such a way that the positivity of the original system is preserved and the error system is stable with a prescribed h performance based upon a system augmentation approach a novel characterization on the stability with h performance of the error system is first obtained in terms of linear matrix inequality lmi then a necessary and sufficient condition for the existence of a desired reduced order model is derived accordingly furthermore iterative lmi approaches with primal and dual forms are developed to solve the positivity preserving h model reduction problem finally a compartmental network is provided to show the effectiveness of the proposed techniques

approximation of fir by iir digital filters an algorithm based on balanced model reduction an algorithm for the approximation of finite impulse response fir filters by infinite impulse response iir filters is presented the algorithm is based on a concept of balanced model reduction the matrix inversions normally associated with this procedure are notoriously error prone due to ill conditioning of the special matrix forms required this difficulty is circumvented here by directly formulating a reduced state space system description which is input output equivalent to the system that would more conventionally be obtained following the explicit step of constructing an interim balanced realization examples of fir by iir filter approximations are included

multiobjective h sub 2 h sub spl infin control for a linear time invariant system with several disturbance inputs and controlled outputs we show how to minimize the nominal h sub 2 norm performance in one channel while keeping bounds on the h sub 2 norm or h sub spl infin norm performance implying robust stability in the other channels this multiobjective h sub 2 h sub spl infin problem in an infinite dimensional space is reduced to sequences of finite dimensional convex optimization problems we show how to compute the optimal value and how to numerically detect the existence of a rational optimal controller if it exists we reveal how the novel trick of optimizing the trace norm of the youla parameter over certain convex constraints allows one to design a nearly optimal controller whose youla parameter is of the same order as the optimal one

h optimal control part 1 model matching our aim in this paper is to develop a new approach for solving the h optimal control problem where the feedback arrangement takes the form of a linear fractional transformation the paper is in two parts in part 1 a basic kind of model matching problem is considered given rational matrices m s and n s the h norm of an error function defined as e s m s n s q s is minimized or bounded subject to e s and q s being stable closed form state space characterizations are obtained for both e s and q s the results established here will be used in part 2 of the paper hung 1989 to solve the h optimal control problem

spectral factor reduction by phase matching the continuous time single input single output case a procedure for reducing the order of a random process spectral factor without altering its stable minimum phase property is presented it is based upon the balanced or the hankel norm approximation of a certain all pass function characterizing the phase of the process spectral factor the motivation for this particular methodology for model order reduction stems from the canonical correlation analysis of akaike 1975 further bode s gain phase relation and nehari s extension used in conjunction provide a functional analytic justification of the reduction procedure the net result of this procedure is a stable minimum phase reduced order spectral factor that matches the original one fairly well the paper draws heavily on the early discrete time paper of jonckheere and helton 1984 in the paper we treat the continuous time case and extend the results of jonckheere and helton in several directions

existence and multiplicity of positive solutions to a singular elastic beam equation rigidly fixed at both ends abstract the purpose of this paper is to study the existence and multiplicity of positive solutions for the fourth order two point boundary value problem u 4 t f t u t 0 t 1 u 0 u 1 u t u 1 0 where nonlinear term f t u may be singular at t 0 t 1 and u 0 in order to achieve the goal guo krasnosel skii fixed point theorem of cone expansion compression type is applied in mechanics the problem describes the deflection of an elastic beam rigidly fixed at both ends

power spectrum reduction by optimal hankel norm approximation of the phase of the outer spectral factor a new approach to stochastic processes power spectrum reduction based on akaike s canonical correlation between the process past and future is developed as a first result the correlation between the canonical past and the canonical future is given its precise functional analytic interpretation as the hankel operator generated lay the all pass function characterizing the phase of the process outer spectral factor the canonical correlation coefficients turn out to he nothing else but the singular values of this hankel operator next the all pass function characterizing the phase of the outer spectral factor is reduced using the optimal hankel norm procedure of adamjan arov and krein the reduction of the all pass phase function is implemented with the safeguards necessary for the magnitude information to be carried all the way through this involves bode s relations between the gain and the phase of an outer function nehari s extension and the winding number of the all pass phase function which is itself shown to be related to the definition of the past and the future finally the net result is a reduced order outer spectral factor that matches the high order spectral factor fairly well

frequency weighted model reduction with l error bounds abstract this paper considers frequency weighted model reduction the explicit lower and upper approximation error bounds are derived for certain classes of weighted model reduction problems the approximation is based on some unweighted approximations and the error bounds are given in terms of the hankel singular values of the weighted model

extended nehari problem for time variant discrete systems abstract in this paper a suboptimal solution to the time variant discrete version of the extended nehari problem is given the main tool used to obtain such a solution with prescribed tolerance is the so called anticausal stabilizing solution to the reverse discrete time riccati equation

global structure of positive solutions for nonlocal boundary value problems involving integral conditions abstract in this paper we consider the nonlinear eigenvalue problems u h t f u 0 0 t 1 u 0 0 u 1 0 1 u s d a s where 0 1 u s d a s is a stieltjes integral with a nondecreasing and a t is not a constant on 0 1 h c 0 1 0 and h t 0 on any subinterval of 0 1 f c 0 0 and f s 0 for s 0 and f 0 f 0 f 0 lim s 0 f s s f lim s f s s we investigate the global structure of positive solutions by using global bifurcation techniques

formulation and solution of structured total least norm problems for parameter estimation the total least squares tls method is a generalization of the least squares ls method for solving overdetermined sets of linear equations ax spl ap b the tls method minimizes spl par e r spl par sub f where r b a e x so that b r spl isin range a e given a spl isin c sup m spl times n with m spl ges n and b spl isin c sup m spl times 1 the most common tls algorithm is based on the singular value decomposition svd of a b however the svd based methods may not be appropriate when the matrix a has a special structure since they do not preserve the structure previously a new problem formulation known as structured total least norm stln and the algorithm for computing the stln solution have been developed the stln method preserves the special structure of a or a b and can minimize the error in the discrete l sub p norm where p 1 2 or spl infin in this paper the stln problem formulation is generalized for computing the solution of stln problems with multiple right hand sides ax spl ap b it is shown that these problems can be converted to ordinary stln problems with one right hand side in addition the method is shown to converge to the optimal solution in certain model reduction problems furthermore the application of the stln method to various parameter estimation problems is studied in which the computed correction matrix applied to a or a b keeps the same toeplitz structure as the data matrix a of a b respectively in particular the l sub 2 norm stln method is compared with the ls and tls methods in deconvolution transfer function modeling and linear prediction problems

model reduction of large scale systems by least squares abstract in this paper we introduce an approximation method for model reduction of large scale dynamical systems this is a projection which combines aspects of the svd and krylov based reduction methods this projection can be efficiently computed using tools from numerical analysis namely the rational krylov method for the krylov side of the projection and a low rank smith type iteration to solve a lyapunov equation for the svd side of the projection for discrete time systems the proposed approach is based on the least squares fit of the r 1 th column of a hankel matrix to the preceding r columns where r is the order of the reduced system the reduced system is asymptotically stable matches the first r markov parameters of the full order model and minimizes a weighted h 2 error the method is also generalized for moment matching at arbitrary interpolation points application to continuous time systems is achieved via the bilinear transformation numerical examples prove the effectiveness of the approach the proposed method is significant because it combines guaranteed stability and moment matching together with an optimization criterion

arma spectral estimation of narrow band processes via model reduction the problem of estimating autoregressive moving average arma models for narrowband processes is considered the following approach is proposed estimate a high order autoregressive ar approximation of the process by model reduction based on a truncated internally balanced realization or optimal hankel norm model reduction reduce the order of this high order ar estimate to find a lower order arma model this algorithm gives arma spectral estimates with excellent resolution properties without using iterative numerical minimization methods as for the maximum likelihood method how to take the narrowband assumption into account in the model reduction step is discussed in detail

positive solutions of nonlinear fourth order boundary value problems with local and non local boundary conditions we establish new existence results for multiple positive solutions of fourth order nonlinear equations which model deflections of an elastic beam we consider the widely studied boundary conditions corresponding to clamped and hinged ends and many non local boundary conditions with a unified approach our method is to show that each boundary value problem can be written as the same type of perturbed integral equation in the space c 0 1 involving a linear functional u but although we seek positive solutions the functional is not assumed to be positive for all positive u the results are new even for the classic boundary conditions of clamped or hinged ends when u 0 because we obtain sharp results for the existence of one positive solution for multiple solutions we seek optimal values of some of the constants that occur in the theory which allows us to impose weaker assumptions on the nonlinear term than in previous works our non local boundary conditions contain multi point problems as special cases and for the first time in fourth order problems we allow coefficients of both signs

on the selection of the reduced order via balanced state representations it is shown that a conjecture concerning actual and internal dominance advanced in a previous publication is not in general true thus use of the second order modes only to select the order of a given siso high order system s h reduced approximant may lead to unsatisfactory results it is then proposed to use instead certain formulas giving the impulse response energy and the steady state step response of h

parametrization and optimization of reduced order filters this paper deals with the design of reduced order filters for linear signal models to ensure that the transfer function from the noise to the filtering error is not only stable but also has a minimum h sub 2 norm one of the major results in the paper is the discovery and parametrization of a set of filters of fixed order which lead to stable filtering error transfer functions such a parametrization is given in terms of an arbitrary orthogonal projection matrix and a given full order filter as a consequence the problem of minimizing the h sub 2 norm of the filtering error transfer function over the set of reduced order filters can be formulated as an equivalent unconstrained parametric optimization problem over a compact manifold a gradient flow based algorithm is proposed to find an optimal solution to the problem nice properties of the algorithm including the convergence property are established theoretically as well as demonstrated numerically with an example

model reduction via balanced state space representations a model reduction procedure based on balanced state space representations is studied in this paper the reduced order model is examined from the point of view of stability controllability and observability both continuous time and discrete time systems are considered

symmetry properties of balanced systems it is shown that every stable controllable and observable single input single output siso continuous linear system has a balanced form which satisfies a certain symmetry property

global existence and stability for wave equation of kirchhoff type with memory condition at the boundary abstract we consider a nonlinear wave equation of kirchhoff type with memory condition at the boundary and we study the asymptotic behavior of the corresponding solutions we proved that the energy decay with the same rate of decay of the relaxation function that is the energy decays exponentially when the relaxation function decay exponentially and polynomially when the relaxation function decay polynomially

existence uniqueness and uniform decay for the nonlinear beam degenerate equation with weak damping in this paper we prove global existence and uniqueness of weak solutions of the problem for the nonlinear beam degenerate equationk x t u email protected email protected w u 2dx email protected u email protected 0 whereq is a cylindrical domain of r n 1 n 1 with the lateral boundary s and k x t is a real function defined in q k x t 0 for all x t email protected 0 which satisfies some appropriate conditions m l is a real function such that m l email protected 0 b l 1 l 1 is the first eigenvalue of the operator d 2 moreover the uniform decay rates of the energy are obtained as time goes to infinity

h sub infinity fixed lag smoothing filter for scalar systems the solution of the h sub infinity optimal linear fixed lag smoothing problem is considered using a polynomial matrix description for the discrete system the smoother is obtained from the solution of a linear equation and a spectral factorization calculation the pole zero properties of the optimal smoother are obvious in the polynomial representation and insights into the measurement noise rejection properties of the smoother are obtained allowance is made for both dynamic cost weighting and colored measurement noise the polynomial form of the smoothing filter may be incorporated into a self tuning algorithm and a simple adaptive smoother is discussed

uniqueness and exact multiplicity of solutions for a class of fourth order semilinear problems using techniques of bifurcation theory we give exact multiplicity and uniqueness results for the fourth order dirichlet problem which describes deflection of an elastic beam subjected to a nonlinear force and clamped at the end points the crucial part of this approach was to show positivity of non trivial solutions of the corresponding linearized problem

a lyapunov theory for linear time delay systems some relationships between a lyapunov based stability test and linear control system models with time delays are explored the main result is a generalization of the result that if a b is a reachable pair of matrices then square a is a stability matrix if and only if there is a positive definite matrix k such that ak ka bb

state space approach to approximation by phase matching a state space realization of the stable part of the phase function of a proper spectral factor is provided the phase matching problem jonckheere and helton 1985 harshavardhana and jonckheere 1985 can now be solved completely in the state space framework using existing numerically reliable procedures further a connection is made between the stochastic balancing approach and the phase approximation procedure for the stochastic realization approximation

a new approach to the discretization of continuous time controllers a new method for discretizing continuous time controllers is derived using principles of controller approximation it focuses on the closed loop use of the discrete time controller the resulting approximation criterion is a measure for stability of the control system provides an upper bound on the sampling time for which stability can be guaranteed and because it is based on continuous time controller approximation it indicates the cost of discretization in terms of performance degradation the discrete time controller is obtained through minimization of this criterion which can be performed with standard software used in h sub infinity controller design

conjugation interpolation and model matching in h abstract the notion of conjugation is introduced to give a unified framework of algebraic operations connected to the analytic aspects of transfer functions two classes of conjugations are shown to be important one is the lossless conjugation that performs inner outer factorization and the other is the j lossless conjugation that solves the model matching problem related to h 8 control the solution of the model matching problem obtained by j lossless conjugation is regarded as the state space version of the directional interpolation theory and is much simpler than those obtained via the nehari approximation

brief paper on the stability of a reduced order filter based on dominant singular value decomposition of the system dynamics the stability of a reduced order filter rof the gain of which is constructed on the basis of a subspace of dominant singular vectors of the system dynamics is examined a definition of s detectability is introduced it is found that the observability of all unstable and neutral singular vectors s detectability is a sufficient condition for the existence of a stable filter

factorization of all pass matrix functions we consider the factorization of an all pass matrix function e s into proper stable minimum phase factors this is achieved by applying the state space wiener hopf factorization theory of bart et al 1983 to the state space characterization of all pass matrix functions given by glover 1984 important connections are made between the properties of e s as a nehari extension its partial wiener hopf factorization indices and its hankel singular values

hankel norm approximation for well posed linear systems the sub optimal hankel norm approximation problem is solved for a well posed linear system with generating operators a b c and transfer function g satisfying some mild assumptions in the special case of the sub optimal nehari problem an explicit parameterization of all solutions is obtained in terms of the system parameters a b c and g 0

a new parametrization of h suboptimal controllers elementary state space concepts are used to derive a transparent solution to the h control problem on an infinite horizon the main contribution of this solution is a novel representation of suboptimal controllers in terms of a pair of parametric riccati equations with a coupling constraint unlike the classical parametrization in terms of linear fractional transformation this state space representation has a homogeneous riccati formulation which should help to make the most of the suboptimal controller diversity potential applications include the design of reduced order controllers and more generally the selection of suboptimal controllers to meet or optimize additional constraints

squaring down and the problems of almost zeros for continuous time systems abstract in this paper we construct precompensators which square down a system such that the resulting square system has the same unstable zeros and system gains we derive the minimal gain of the precompensator to achieve such a square system if the gain of this precompensator is too large then we derive an explicit trade off between the gain of the precompensator and the number of unstable zeros we allow the precompensator to introduce in the system

model reduction for state space symmetric systems in this paper the model reduction problem for state space symmetric systems is investigated first it is shown that several model reduction methods such as balanced truncation balanced truncation which preserves the dc gain optimal and suboptimal hankel norm approximations inherit the state space symmetric property furthermore for single input and single output siso state space symmetric systems we prove that the h norm of its transfer functions can be calculated via two simple formulas moreover the siso state space symmetric systems are equivalent to systems with zeros interlacing the poles zip under mild conditions

a stable state space realization in the formulation of h norm computation in the two block hinftyoptimization problem usually we are given the state space realizations of the proper rational matrices r 1 s and r 2 s whose poles are all the open right half plane two problems are studied in the note the first is the evaluation of phi s r 1 s at s s k k 1 2 n where phi s is an inner function whose zeros s k k 1 2 n are the poles of r 1 s this evaluation is essential if chang and pearson s method is used for computing the optimal hinftynorm the problem is solved in state space via the solutions of lyapunov equations neither polynomial matrix manipulations nor numerical pole zero cancellations are involved in the evaluation the second problem is to find a stable state space realization of s s u s r 2 s where u s is an inner matrix this problem arises in the spectral factorization of gamma 2 r 2 ast r 2 doyle and chu had a method for constructing stable s s based on a minimal realization of r 2 s an alternate method is proposed the alternate method does not require a minimal realization of r 2 s and only a lyapunov equation is involved

existence uniqueness and uniform decay for the non linear degenerate equation with memory condition at the boundary this paper is concerned with the existence uniqueness and uniform decay for the solution to the non linear degenerate equation with memory condition at the boundary

optimal hankel norm identification of dynamical systems abstract the problem of optimal approximate system identification is addressed with a newly defined measure of misfit between observed time series and linear time invariant models the behavioral framework is used as a suitable axiomatic setting for a non parametric introduction of system complexity and allows for a notion of misfit of dynamical systems that is independent of system representations the misfit function introduced here is characterized in terms of the induced norm of a hankel operator associated with the data and a co inner kernel representation of a model sets of pareto optimal models are defined as feasible trade offs between complexity and misfit of models and it is shown how all pareto optimal models are characterized as exact models of compressed data sets obtained from hankel norm approximations of data matrices this leads to new conceptual algorithms for optimal approximate identification of time series 1997 elsevier science ltd

global structure of nodal solutions for a fourth order two point boundary value problem we consider the fourth order two point boundary value problem x kx lx a t f x 0 t 1 x 0 x 1 x 0 x 1 0 where a c 0 1 0 with a t 0 on any subinterval of 0 1 f c 1 r 0 r c r r satisfies f x x 0 for all x 0 we give conditions on the constants k l and the function f x that guarantee the existence and multiplicity results of nodal solutions the proofs of our main results are based upon disconjugate operator theory and the global bifurcation techniques

directional interpolation approach to h optimization and robust stabilization it is shown that under a mild condition h infty optimization and robust stabilization are equivalent to a directional interpolation problem which is a matrix extension of the classical pick nevanlinna interpolation problem a classical iterative method which is an extension of the schur nevanlinna algorithm is given for solving the problem this method does not require the inner outer factorization nor the balanced realization of the original plant a circuit theoretical parameterization of all solutions is derived that is expected to enhance the physical insight to the h infty optimal control and robust stabilization this parameterization has the degree much less than the one obtained previously

acausal models and balanced realizations of stationary processes abstract we study acausal realizations of stationary or stationary increment processes in particular we characterize the family of models whose corresponding spectral factors have a fixed zero structure acausal models with a fixed zero structure are related to each other by a certain group of state feedback transformations which is naturally parametrized by the solution set of a homogeneous algebraic riccati equation each feedback transformation reflects some of the eigenvalues of the generator matrix a of the representation to a mirror image with respect to the imaginary axis dually acausal models with a fixed pole structure are parametrized by a dual riccati equation and by a corresponding family of output injection transformations from a general standpoint the results of this study clarify the role played by dual pairs of riccati equations in spectral factorization and may be relevant to other problem areas than stochastic modelling one natural application of the concepts discussed in the paper is to stochastic balancing balancing of models with an essentially arbitrary eigenvalue location can be accomodated very naturally in this framework a balancing algorithm involving the solution of a dual pair of riccati equations is discussed

brief paper balanced truncation model reduction for systems with inhomogeneous initial conditions we present a rigorous approach to extend balanced truncation model reduction btmr to systems with inhomogeneous initial conditions we provide an estimate for the error between the input output maps of the original and of the reduced initial value system and we illustrate numerically the superiority of our approach over the naive application of btmr when btmr is applied to linear time invariant systems with inhomogeneous initial conditions it is crucial that the initial data are well represented by the subspaces generated by btmr this requirement is often ignored or it is avoided by making the restrictive assumption that the initial data are zero to ensure that the initial data are well represented by the btmr subspaces we add auxiliary inputs determined by the initial data

technical communique controller synthesis with guaranteed closed loop phase constraints in this paper we present an analysis and synthesis approach for guaranteeing that the phase of a single input single output closed loop transfer function is contained in the interval a a for a given a 0 at all frequencies specifically we first derive a sufficient condition involving a frequency domain inequality for guaranteeing a given phase constraint next we use the kalman yakubovich popov theorem to derive an equivalent time domain condition in the case where a p2 we show that frequency and time domain sufficient conditions specialize to the positivity theorem furthermore using linear matrix inequalities we develop a controller synthesis approach for guaranteeing a phase constraint on the closed loop transfer function finally we extend this synthesis approach to address mixed gain and phase constraints on the closed loop transfer function

convolution and hankel operator norms for linear systems some norms are derived for convolution and hankel operators associated with linear time invariant systems in certain cases these norms are shown to be identical the tightest possible bound has been obtained for the absolute magnitude of the euclidean 2 or infinity norm of the time domain response of a multioutput system to certain classes of input disturbance

optimal sensitivity theory for multivariate distributed plants in this note we generalized the results of foias and tannenbaum 1986 a and foias et al 1987 on optimal sensitivity minimization to a much broader class of distributed plants we relate our results to certain kinds of hankel norm approximation problems that frequently appear in control engineering applications