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    Analysis and Synthesis of Polynomial Discrete-Time Systems: An SOS Approach
    Analysis and Synthesis of Polynomial Discrete-Time Systems: An SOS Approach
    Analysis and Synthesis of Polynomial Discrete-Time Systems: An SOS Approach
    Ebook382 pages4 hours

    Analysis and Synthesis of Polynomial Discrete-Time Systems: An SOS Approach

    By Mohd Shakir Md Saat, Sing Kiong Nguang and Alireza Nasiri

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    About this ebook

    Analysis and Synthesis of Polynomial Discrete-time Systems: An SOS Approach addresses the analysis and design of polynomial discrete-time control systems. The book deals with the application of Sum of Squares techniques in solving specific control and filtering problems that can be useful to solve advanced control problems, both on the theoretical side and on the practical side. Two types of controllers, state feedback controller and output feedback controller, along with topics surrounding the nonlinear filter and the H-infinity performance criteria are explored. The book also proposes a solution to global stabilization of discrete-time systems.

    • Presents recent developments of the Sum of Squares approach in control of Polynomial Discrete-time Systems
    • Includes numerical and practical examples to illustrate how design methodologies can be applied
    • Provides a methodology for robust output controller design with an H-infinity performance index for polynomial discrete-time systems
    • Offers tools for the analysis and design of control processes where the process can be represented in polynomial form
    • Uses the Sum of Squares method for solving controller and filter design problems
    • Provides MATLAB® code and simulation files of all illustrated example
    LanguageEnglish
    PublisherElsevier Science
    Release dateJul 10, 2017
    ISBN9780081019023
    Analysis and Synthesis of Polynomial Discrete-Time Systems: An SOS Approach
    Author

    Mohd Shakir Md Saat

    Mohd Shakir Md Saat is an Associate Professor and Deputy Dean (Academic) with the Faculty of Electronic and Computer Engineering at the Teknikal Malaysia Melaka, Malaysia. He was born in Kedah, Malaysia in 1981. He obtained his bachelor degree in Electrical Engineering from Universiti Teknologi Malaysia and Master in Electrical Engineering from the same university in 2002 and 2006, respectively. Furthermore, he obtained his PhD in Electrical Engineering from The University of Auckland in the field of nonlinear control theory in 2013. He started his career as a lecturer at Universiti Teknikal Malaysia, Melaka in 2004 and he is now a senior lecturer and Deputy Dean (Academic), Faculty of Electronic and Computer Engineering at the same university. His research interest is on nonlinear systems control theory and wireless power transfer technologies. He has published many journal papers and mostly in high quality journals such as Journal of the Franklin Institute, International Journal of Robust and Nonlinear Control, IET Control and etc. And more than 30 conference papers have also been published and most of them are in the framework of nonlinear control theory and wireless power transfer technologies. He has been appointed as a reviewer for IEEE Transaction journals, International journal of system sciences, journal of the Franklin Institute, International Journal of Robust and Nonlinear Control, Circuit, systems and signal processing and many more.

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      Book preview

      Analysis and Synthesis of Polynomial Discrete-Time Systems - Mohd Shakir Md Saat

      control.

      Preface

      Shakir Saat     Universiti Teknikal Malaysia Melaka, Faculty of Electronic and Computer Engineering, Durian Tunggal, Melaka, Malaysia

      Sing Kiong Nguang     The University of Auckland, Department of Electrical and Computer Engineering, Auckland, New Zealand

      Alireza Nasiri     Hormozgan University, Department of Electrical and Computer Engineering, Bandar Abbas, Iran

      The polynomial discrete-time systems are the type of systems where the dynamics of the systems are described in polynomial forms. This system is classified as an important class of nonlinear systems due to the fact that many nonlinear systems can be modeled as, transformed into, or approximated by polynomial systems.

      performance and for the systems with and without uncertainty. In this book, we consider two types of uncertainty, polytopic uncertainties and norm-bounded uncertainties. A novel methodology for designing a filter for the polynomial discrete-time systems is also developed. We show that through our proposed methodologies, a less conservative design procedure can be rendered for the controller synthesis and filter design.

      In particular, we propose a so-called integrator method, where an integrator is incorporated into the controller and filter structures. In doing so, the original systems can be transformed into augmented systems. Furthermore, the state-dependent Lyapunov function is selected in a way that its matrix is dependent only upon the original system state. Through this selection, a convex solution to the controller design and the filter design can be efficiently obtained. However, the price we pay for incorporating the integrator into the controller and filter structures is a large computational cost, which prevents us from using this method in general. To reduce the computational requirements for our design methodologies, we consider a number of simpler classes of polynomial systems.

      state-feedback control problem with polytopic and norm-bounded uncertainty. The design ensures that the ratio of the regulated output energy and the disturbance energy is less than a prescribed performance level. The filter design is next tackled and followed by the output feedback control problem. In the output feedback control, the problem of system uncertainties and disturbances are addressed. The existence of such controllers and a filter are given in terms of the solvability of polynomial matrix inequalities (PMIs). The problem is then formulated as sum-of-squares (SOS) constraints; therefore, it can be solved by any SOS solver. In this book, SOSTOOLS is used as an SOS solver.

      Motivated by most of the existing control design methods for discrete-time fuzzy polynomial systems cannot guarantee their Lyapunov function to be a radially unbounded polynomial function, and hence the global stability cannot be ensured. This book also provides controller design methods for discrete-time fuzzy polynomial systems that guarantee a radially unbounded polynomial Lyapunov function that ensures the global stability.

      Finally, to demonstrate the effectiveness and advantages of the proposed design methodologies in this book, numerical examples are given in each designed control system. The simulation results show that the proposed design methodologies can stabilize the systems and achieve the prescribed performance requirements.

      15 March 2017

      Chapter 1

      Introduction

      Abstract

      The purpose of this chapter is generally to emphasize the theory of nonlinear discrete-time systems and in particular the theory of polynomial discrete-time systems. We begin this chapter by describing the concept of nonlinear systems and nonlinear discrete-time systems. Then, available methods for stabilizing nonlinear discrete-time are provided. Furthermore, the fundamental concept of polynomial systems is given and followed by an overview of the existing literature dealing with the controller synthesis for polynomial systems. As the sum-of-squares method is used for solving the controller and filter design problems, a description of the sum-of-squares decomposition method is also highlighted in this chapter. Next, a motivation of delivering this research work is presented and followed by the contribution of this research work. This chapter is concluded with the outline of the book, highlighting the summary of each chapter.

      Keywords

      Nonlinear Discrete System; Polynomial System; Sum-of-Squares Method

      Chapter Outline

      1.1  Nonlinear systems

      1.2  Nonlinear discrete-time systems

      1.2.1  Discretization

      1.2.2  Brief overview on the literature of nonlinear discrete-time systems

      1.3  Polynomial systems

      1.3.1  Recent work on polynomial systems

      1.3.1.1  On the literature on controller synthesis for polynomial systems: the Lyapunov method and SOS decomposition approach

      1.3.2  Sum-of-squares (SOS) decomposition

      1.3.2.1  SOSTOOLS

      1.4  Research motivation

      1.5  Contribution of the book

      1.6  Book outline

      References

      1.1 Nonlinear systems

      Nonlinear systems play a vital role in the control systems from an engineering point of view. This is due to the fact that in practice all plants are nonlinear in nature. This is the main reason for considering the nonlinear systems in our work. In mathematics, a nonlinear system does not satisfy the superposition principle, or its output is not directly proportional to its input. The best example to explain nonlinearity is obviously a saturation. This condition exists because it is impossible to deliver an infinite amount of energy to any real-world system.

      In general, the state and output equations for nonlinear systems may be written as follows:

      (1.1)

      The Lorenz chaotic system is an example of a nonlinear system described as follows:

      (1.2)

      , system (1.2) is nonlinear in nature. In the sequel, the nonlinear discrete-time systems considered in this book are introduced.

      1.2 Nonlinear discrete-time systems

      Nowadays we can see that almost all controllers are implemented using computers. Such controllers are known as digital controllers. Basically, the use of digital controllers has rapidly increased since the first idea of using digital computers as one of the components in control systems emerged somewhere in 1950. The detailed history of this development can be found in [1]. The main reason for this development is due to the advances in hardware; hence it provides the control engineer with more powerful, reliable, faster, and above all cheaper computers that could be implemented as process controllers. The another significant factor that drives the increase in development of digital controllers is the advantage of working with digital signals rather than continuous-time signals [2]. The aforementioned factors generally motivate us to deliver the research in the framework of discrete-time systems rather than continuous-time systems.

      Generally, a closed-loop system of computer controlled systems can be illustrated by . Notice that the process input is in continuous-time, and hence a digital-to-analog (D-A) converter is used to transform the signals into a continuous-time signal. It is important to highlight here that between the sampling instants the system is in open-loop mode. The system is synchronized by a real time clock in the computer. Consequently, the inter-sample behavior is very often an issue and should not be disregarded. However, in many applications it is sufficient to describe the dynamic behavior of the system at the sampling instants. At this stage, the interested signals are only at discrete time, and this system is classified as a discrete-time system [1,3]. We can now simply justify that if the dynamic of the process is in linear forms, then such a system is called a linear discrete-time system. Meanwhile, if the behavior of the process is nonlinear, then it is known as a nonlinear discrete-time

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