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    Algebras of Holomorphic Functions and Control Theory
    Algebras of Holomorphic Functions and Control Theory
    Algebras of Holomorphic Functions and Control Theory
    Ebook247 pages1 hour

    Algebras of Holomorphic Functions and Control Theory

    By Amol Sasane

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    About this ebook

    This accessible, undergraduate-level text illustrates the role of algebras of holomorphic functions in the solution of an important engineering problem: the stabilization of a linear control system. Its concise and self-contained treatment avoids the use of higher mathematics and forms a bridge to more advanced treatments.
    The treatment consists of two components: the algebraic framework, which serves as the abstract language for posing and solving the problem of stabilization; and the analysis component, which examines properties of specific rings of holomorphic functions. Elementary, self-contained, and constructive proofs elucidate the explorations of rings of holomorphic functions relevant in control theory. Introductory chapters on control theory and stable transfer functions are followed by surveys of unstable plants and the stabilization problem and its solution. The text concludes with suggestions for further reading and a bibliography.
    LanguageEnglish
    PublisherDover Publications
    Release dateApr 10, 2013
    ISBN9780486153315
    Algebras of Holomorphic Functions and Control Theory

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      Book preview

      Algebras of Holomorphic Functions and Control Theory - Amol Sasane

      Index

      Preface

      Control Theory is a branch of applied mathematics where many beautiful and deep theorems from pure mathematics have answered exactly the questions arising in an important part of engineering. Both control engineers and mathematicians have benefited from this opportunity to share results and methods.

      The aim of this monograph is to illustrate (to a mathematical audience) how properties of algebras of holomorphic functions in the disk play a prominent role in the solution of an important problem in engineering, namely that of stabilization of a linear control system. It provides a self-contained glimpse into this part of control theory for someone who hasn’t met any control theory before. For this reason, the monograph is certainly not encyclopedic, and there are several omissions. In the final chapter on further reading, we mention a few of the unexplored avenues that the interested reader might want to pursue. The aim is merely to give a short and easy introduction to the subject, and to build a bridge to enable greater communication.

      Moreover, the book is written at the undergraduate level. We do not use advanced mathematics, nor do we pretend to include real-life models from engineering. We have tried to make the book as self-contained as possible, and so it can be read by anyone with an undergraduate mathematics degree.

      Although I have volunteered myself as a guide to this area of control theory, I cannot claim to know much more than the reader. An authoritative treatise on the subject is the classic by Vidyasagar [V]. In our monograph, there are two components:

      The algebraic framework in which the problem of stabilization is posed and solved abstractly. For this algebraic component, we use the language of ideals to discuss the stabilization problem, following the work of Shiva Shankar and Virendra Sule [SS]. Although the algebraic theory given in [SS] goes further than what we have chosen to discuss here, the aim is to give a quick, easy and self-contained introduction to the uninitiated reader.

      The analysis component, in which we prove properties of specific rings of holomorphic functions, rather than dealing with only abstract rings. We give elementary, self-contained, and insofar as this is possible, constructive proofs for this analytic component of the book, where we focus on particular rings of holomorphic functions relevant in control theory. For instance we give constructive algorithmic proofs of the corona theorem for the disk algebra and the Wiener algebra, and of the fact that their Bass stable rank is one, where we give a method of reducing any given unimodular pair.

      The emphasis of this book is on the analysis component, and so the algebraic component mainly serves as the abstract language in which we pose and solve the stabilization problem. Once this is done, we concentrate on specific rings of analytic functions and investigate what happens there.

      Most proofs have been taken from various sources, and we have tried to keep track of the original sources in the sections called ‘Notes’ at the end of each chapter. We make no claims about the originality of any of the proofs included in this book. The only contribution we have made is to collect what seemed to be the simplest and most constructive proofs in a single volume.

      We use chapter-wise numbering of Theorems, Lemmas, Corollaries, Propositions, Examples, Exercises and Notation: Theorem 1.4 means the fourth theorem in the first chapter.

      We will use standard mathematical notation, but we mention that

      ‘A := B’ reads ‘A defined by B’;

      ‘A =: B’ reads ‘B defined by A’;

      N denotes the set of natural numbers {1, 2, 3, ... }.

      The notation z* is used for the complex conjugate of the complex number z, denotes the closure of the set X .

      Useful discussions with Ruth Curtain, Sara Maad, Raymond Mortini, Alban Quadrat and Rudolf Rupp are gratefully acknowledged. In particular, special thanks to Sara Maad and Rudolf Rupp who read a draft of the book in great detail, found several mistakes, and suggested fixes. I would also like to thank Alban Quadrat for initiating this project and for his comments on an early draft of the manuscript.

      Amol Sasane

      London, 2009

      Chapter 1

      Control theory

      The basic objects of study in control theory are underdetermined differential /difference equations. By underdetermined, we mean that the functions in the differential equation system are not uniquely determined, but some of them are ‘free’, that is, they can be arbitrarily chosen (something that we can ‘input’). Once this choice is made, then the rest of the variables are uniquely determined.

      The basic question in control theory is: Can one influence the behaviour of some of the functions in the system by appropriate manipulation of the free variables, that is, can one control the behaviour of the system? We elaborate on this below.

      For instance, the algebraic equation x = 10 − u, where x, u are integers, is underdetermined. Indeed, it is not the case that there is a unique pair of integers (x, u) that satisfies the equation. Viewing the variable u as free (something we can decide, or ‘input’), we see that the x is then determined via x = 10 − u. One could then ask the question of manipulating the to-be-controlled variable x by suitable changing the input u. For example, in order to make x < 5, we can do so by inputting a u > 5! In control theory, one addresses a similar question of control, but for underdetermined difference or differential equations.

      Our basic object of study in control theory will be the system

      where n = 0, 1, 2, 3, ... serves as the time axis. Here the variable

      x is called the state,

      u is called the input,

      y is called the output.

      The state x at any time n is an element belonging to a Hilbert space X, called the state space. On the other hand, u and y are complex-valued sequences. The symbols A, B, C, D denote continuous linear transformations¹ between appropriate spaces, and are known from the modelling procedure:

      If we look at the first of the two equations in (1.2), then we notice that this is an underdetermined equation, in the sense that the input u can be chosen freely, that is, it can be specified arbitrarily. It is something that we can choose, or input into the system. Once such a choice of the input u has been made, then, given the initial condition x(0), the first equation in (1.2) determines the state x uniquely. Indeed, if we decide what u(0), u(1), u(2), u(3), ... are, then with x(0) known, we see that x(1), x(2), x(3), ... are determined:

      Now that x is determined, the output y is then determined by the second equation in (1.2):

      Thus we can think of the system described by (1.2) as a box which given the input u, manufactures the output² y. See Figure 1.

      Figure 1. Control system.

      One may then ask the question about ‘controlling’ y, that is, manipulating the behaviour of the output in some desired manner³, by suitably changing the input u. For this reason (that is, there may exist a possibility of controlling the behaviour of the system), a system described by an equation of the form (1.2) is called a control system.

      1.1. Finite vs infinite; discrete vs continuous

      The control system (1.2) is called finite-dimensional if X is finite-dimensional, while it is called infinite-dimensional if X is infinite-dimensional.

      Note that we have considered the time axis to be discrete. For this reason, we call our control systems as discrete-time control systems. One may also consider similar underdetermined differential equation models, with a continuous time axis:

      (1.1)

      A model described by a system of high order linear ordinary differential equations with constant coefficients can be expressed as a first order equation (1.1) with an appropriate choice of the state variable x, and state space X = ℂn.

      On the other hand a model described by a system of linear partial differential equations or ordinary differential equations with delays can also be rewritten as (1.1), but now one needs an infinite-dimensional Hilbert space X as the state space.

      We will not go into the details of these modelling issues in this monograph, since there are several good sources on the subject available to the interested reader; see for instance [CZ].

      Throughout this monograph, we will only consider discrete-time systems although an analogous theory exists for continuous-time systems as well. Moreover, we will primarily be interested in infinite-dimensional systems, since only there do the subtle algebraic properties of the rings of

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