# LMIs in Control/Click here to continue/Controller synthesis/Continuous-Time Static Output Feedback Stabilizability

LMIs in Control/Click here to continue/Controller synthesis/Continuous-Time Static Output Feedback Stabilizability
In view of applications, static feedback of the full state is not feasible in general: only a few of the state variables (or a linear combination of them, $y=Cx(t)$, called the output) can be actually measured and re-injected into the system.
So, we are led to the notion of static output feedback

## The System

Consider the continuous-time LTI system, with generalized state-space realization $(A,B,C,0)$
    ${\begin{aligned}{\dot {x}}(t)&=Ax(t)+Bu(t)\\y(t)&=Cx(t)\\\end{aligned}}$

## The Data

* $A\in \mathbb {R} ^{n\times n},B\in \mathbb {R} ^{n\times m},C\in \mathbb {R} ^{p\times n}$
* $x\in \mathbb {R} ^{n},y\in \mathbb {R} ^{p},u\in \mathbb {R} ^{m}$

## The Optimization Problem

This system is static output feedback stabilizable (SOFS) if there exists a matrix F such that the closed-loop system
${\dot {x}}=(A-BKC)x$
(obtained by replacing $u=-Ky$ which means applying static output feedback) is asymptotically stable at the origin

## The LMI: LMI for Continuous Time - Static Output Feedback Stabilizability

The system is static output feedback stabilizable if and only if it satisfies any of the following conditions:
* There exists a $K\in \mathbb {R} ^{m\times p}$ and $P\in \mathbb {S} ^{n}$, where $P>0$, such that
    ${\begin{bmatrix}A^{T}P+PA-PBB^{T}P&PB+C^{T}K^{T}\\KC+B^{T}P&-1\end{bmatrix}}$${\begin{aligned}<0\end{aligned}}$
* There exists a $K\in \mathbb {R} ^{m\times p}$ and $Q\in \mathbb {S} ^{n}$, where $Q>0$, such that
    ${\begin{bmatrix}QA^{T}+AQ-QC^{T}CQ&BK+QC^{T}\\CQ^{T}+K^{T}B^{T}&-1\end{bmatrix}}$${\begin{aligned}<0\end{aligned}}$
* There exists a $K\in \mathbb {R} ^{m\times p}$ and $Q\in \mathbb {S} ^{n}$, where $Q>0$, such that
    ${\begin{bmatrix}QA^{T}+AQ-BB^{T}&B+QC^{T}K^{T}\\B^{T}+KCQ^{T}&-1\end{bmatrix}}$${\begin{aligned}<0\end{aligned}}$
* There exists a $K\in \mathbb {R} ^{m\times p}$ and $P\in \mathbb {S} ^{n}$, where $P>0$, such that
    ${\begin{bmatrix}A^{T}P+PA-C^{T}C&PBK+C^{T}\\K^{T}B^{T}P&-1\end{bmatrix}}$${\begin{aligned}<0\end{aligned}}$

## Conclusion

On implementation and optimization of the above LMI using YALMIP and MOSEK (or) SeDuMi we get 2 output matrices one of which is the Symmeteric matrix $P$ (or $Q$) and $K$

## Implementation

A link to the Matlab code for a simple implementation of this problem in the Github repository:
https://github.com/yashgvd/LMI_wikibooks

## Related LMIs

Discrete time Static Output Feedback Stabilizability
Static Feedback Stabilizability

## External Links

* - LMI in Control Systems Analysis, Design and Applications
* LMI Methods in Optimal and Robust Control - A course on LMIs in Control by Matthew Peet.
* LMI Properties and Applications in Systems, Stability, and Control Theory - A List of LMIs by Ryan Caverly and James Forbes.
* D. d. S. Madeira and J. Adamy, "Static output feedback: An LMI condition for stabilizability based on passivity indices," 2016 IEEE Conference on Control Applications (CCA), Buenos Aires, 2016, pp. 960-965.