544 www.DownloadPaper.ir IEEE SYSTEMS JOURNAL, VOL. 3, NO.

4, DECEMBER 2009

Design of Robust Quadratic Finite-Horizon Optimal

Static Output Feedback Controllers for Linear
Uncertain Singular Systems
Shinn-Horng Chen, Wen-Hsien Ho, and Jyh-Horng Chou, Senior Member, IEEE

Abstract—By complementarily fusing the robust stabilizability systems, circuits, power systems, economics, control theory,
condition, the orthogonal-functions approach (OFA) and the hy- robots, mechanical systems, and other areas [1], [2]. Recently,
brid Taguchi-genetic algorithm (HTGA), an integrative method is several results and methods for the analysis and design of linear
proposed in this paper to design the robust-stable and quadratic-
optimal static output feedback controller such that i) the linear singular control systems have been presented in the literatures
singular control system with structured parameter uncertainties is (see, for example, [1]–[10] and references therein). On the
regular, impulse-free and asymptotically stable and ii) a quadratic other hand, it is well-known that an approximate system model
finite-horizon integral performance index for the linear nominal is always used in practice and sometimes the approximate error
singular control system can be minimized. Based on some essential should be covered by introducing parameter uncertainties in
properties of matrix measures, a new sufficient condition is pre-
sented for ensuring that the linear singular system with structured control system analysis and design. Besides, in practice, it is
and quadratically-coupled structured parameter uncertainties is not always possible to have full access to the state variables
regular, impulse free and asymptotically stable. By using the OFA and only the partial information through a measured output is
and the robust stabilizability condition, the dynamic-optimization available. Therefore, the study on the analysis and design of
problem for the robust-stable and quadratic-optimal static output linear uncertain singular systems with static output feedback
feedback control design of the linear uncertain singular system is
transformed into a static-constrained-optimization problem repre- control is more realistic in control engineering. The complexity
sented by the algebraic equations with constraint of robust stabi- of the static output feedback control problem has been proved
lizability condition; thus greatly simplifying the robust-stable and to be NP-hard [11]. Geromel et al. [12] have analyzed the solv-
quadratic-optimal static output feedback control design problem ability of a necessary and sufficient condition for the existence
of the linear uncertain singular system. Then, for the static-con- of a stabilizing static output feedback gain for continuous-time
strained-optimization problem, the HTGA is employed to find the
robust-stable and quadratic-optimal static output feedback con- linear systems. They have also provided simple procedures to
troller of the linear uncertain singular control system. One design determine a suboptimal solution to the control problem by
example of the robust-stable and quadratic-optimal static output means of static output feedback control [12]. In recent years,
feedback controller for a mass-spring-damper mechanical system there are a few works studying the robust stability and stabi-
with structured parameter uncertainties is given to demonstrate lizability problems for the linear uncertain singular systems
the applicability of the proposed integrative approach.
with static output feedback control in the literatures [4], [6],
Index Terms—Robust stabilizability, singular systems, static [13]–[18]. Only robust stabilization is often not enough in con-
output feedback control, parameter uncertainties, orthog- trol design. For the control systems design, it is often of interest
onal-functions approach, genetic algorithm.
to synthesize a quadratic-optimal controller such that the con-
trol objective of minimizing a quadratic finite-horizon integral
I. INTRODUCTION performance criterion is achieved [19], [20]. However, to the
authors’ best knowledge, there are no literatures to investigate
the issue of designing the robust-stable and quadratic-optimal
N recent years, there has been a growing interest in the
I system-theoretic problems of singular systems due to
the extensive applications of singular systems in large-scale
static output feedback controllers for the linear uncertain
singular systems, where a quadratic finite-horizon integral
performance index is minimized.
The purpose of this paper is to propose an integrative opti-
Manuscript received November 30, 2008; revised September 23, 2009. First mization method to design the robust-stable and quadratic-op-
published December 15, 2009; current version published January 27, 2010. timal finite-horizon static output feedback controller such that
This work was supported in part by the National Science Council of Taiwan
under Grants NSC 96-2221-E-151-055, NSC 96-2628-E-327-004-MY3, and
i) the linear singular systems with structured parameter uncer-
NSC 97-2221-E-037-003. tainties is regular, impulse-free and asymptotically stable and
S. H. Chen is with the Department of Mechanical Engineering, National ii) a quadratic finite-horizon integral performance index for the
Kaohsiung University of Applied Sciences, Kaohsiung City, Taiwan.
W. H. Ho is with the Department of Medical Information Management, Kaoh-
linear nominal singular control system can be minimized. The
siung Medical University, Kaohsiung City, Taiwan (e-mail: whho@kmu.edu. proposed integrative method complementarily fuses the orthog-
tw). onal-functions approach (OFA), the hybrid Taguchi-genetic al-
J. H. Chou is with the Institute of System Information and Control, National gorithm (HTGA) and the robust stabilizability condition, where
Kaohsiung First University of Science and Technology, Kaohsiung City, Taiwan
(e-mail: choujh@ccms.nkfust.edu.tw). the robust stabilizability condition is derived in this paper for
Digital Object Identifier 10.1109/JSYST.2009.2037358 ensuring that the linear uncertain singular control system is reg-
1932-8184/$26.00 © 2009 IEEE

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CHEN et al.: ROBUST QUADRATIC FINITE-HORIZON OPTIMAL STATIC OUTPUT FEEDBACK CONTROLLERS 545

ular, impulse-free and asymptotically stable. One illustrative ex- singular system denoted by regular,
ample is also given in this paper to demonstrate the applicability impulse-free and asymptotically stable by using any proposed
of the proposed integrative optimization method. approach (see, for example, [21]), derive a robust stabilizability
criterion for checking whether the linear uncertain singular
II. PROBLEM STATEMENT system in (5) denoted by is still regular, im-
Consider the linear uncertain singular system as the following pulse-free and asymptotically stable or not.
form: For the linear uncertain singular system , we as-
sume that an output feedback gain matrix has been specified
(1) in advance to make the linear nominal system regular,
and impulse-free, and asymptotically stable, then we can see that
(2) is a proper rational matrix. Since is a
proper rational matrix, it can be uniquely decomposed as [3]:
with the static output feedback controller of the form
(6)
(3)
where is a strictly proper matrix part of ,
where is the state vector, is the output and is a constant matrix part. In what follows, we present a ro-
vector, is the input vector, and is the bust stabilizability criterion to analyze whether the linear uncer-
structure information matrix; tain singular system remains regular, impulse-free
and asymptotically stable as the linear nominal singular system
does, where the output feedback gain matrix has been
specified in advance to make the linear nominal singular system
regular, impulse-free and asymptotically stable by using
(4) any proposed approach (see, for example, [21]).
Theorem: Assume that an output feedback gain matrix has
are the system matrix, the input matrix and the output matrix, been specified in advance to make the linear nominal singular
respectively, in which are the elemental un- system regular, impulse-free and asymptotically stable.
certainties; and are, respectively, the The linear uncertain singular system is still reg-
given and constant matrices which are pre- ular, impulse-free and asymptotically stable, if the following in-
scribed prior to denote the linearly dependent information on equalities are simultaneously satisfied:
elemental uncertainties ’s; is the number of independent un-
certain parameters. The matrix is the output feedback (7a)
gain matrix of the static output feedback controller. Here the ma-
trix may be a singular matrix with . In many ap- and
plications, the matrix is a structure information matrix rather
than a parameter matrix, i.e., the elements of contain only (7b)
structure information regarding the problem considered.
The system in (1) and (2) with the static output feedback con- where
troller in (3) can be expressed as the following closed-loop un-
certain singular system: (8a)

(8b)

(8c)

(5)

where
(8d)

in which denotes the matrix measure of the matrix

[22]; is given in (6); and denotes the imagi-
, and nary axis.
. Proof: The result can be obtained by following the same
Hence, for the closed-loop uncertain singular system in (5), proof procedures given in the works of the authors [18], [23].
the problem of robust stabilizability analysis can be formulated Remark 1: There are no restrictions for applying the con-
as: under the condition that an output feedback gain matrix ditions (7a) and (7b). However, the conditions (7a) and (7b)
has been specified in advance to make the linear nominal are only the sufficient criteria. The condition (7a) can ensure

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the linear uncertain singular system to be still the robust-stable and quadratic-optimal static output feedback
regular and impulse-free, and condition (7b) can guarantee the controller design problem of a linear uncertain singular system,
linear uncertain singular system to be asymptoti- and the design procedures for the static output feedback con-
cally stable. The proposed sufficient condition in (7) can give troller can be described as follows. Use a systematic approach
the explicit relationship of the bounds on for specifying the output feedback gain matrix of the static
for preserving stability robustness. Besides, the bounds, that output feedback controller in (3) to do the following two steps:
are obtained by using these proposed sufficient condition, on Step 1: check whether the linear nominal singular system
are not necessarily symmetric with respect is regular, impulse-free and asymptotically stable, and
to the origin of the parameter space regarding both and . check whether the constraint of robust stabilizability criterion
The role of conditions (7a) and (7b) is a robustly stable con- in (7) is satisfied,
straint in our proposed integrative approach to search for static Step2: minimize the quadratic finite-horizon integral perfor-
output feedback gain matrix . mance index in (12) for the linear closed-loop nominal singular
However, only robust stabilizability is often not enough in system in (11), such that the design objective of robust-stable
control system design. The control objective of minimizing a and quadratic-optimal control can be achieved. That is, the de-
quadratic finite-horizon integral performance criterion for the sign problem of the robust-stable and quadratic-optimal static
nominal dynamic systems is also considered in many practical output feedback controller for a linear uncertain singular system
control engineering applications [19], [20]. On the other hand, is a constrained optimization problem. In the next section, we
before we are able to synthesize a controller such that the good will integrate the OFA, the HTGA and the presented robust sta-
control performance for a given dynamic system can be effi- bilizability criterion to solve this static output feedback con-
ciently achieved, it is necessary that the given dynamic system troller design problem.
can be stabilized by the controller [24]. Therefore, the problem
considered in this paper is how to specify the output feedback III. ROBUST-STABLE AND QUADRATIC-OPTIMAL STATIC
gain matrix in (3) such that i) the constraint of robust stabi- OUTPUT FEEDBACK CONTROLLER DESIGN
lizability criterion in (7) for the linear closed-loop uncertain sin-
Here, consider the time interval , where
gular system in (5) can be satisfied, and such that ii) the optimal
is chosen for the independent variable , and let us define
control performance for the linear nominal singular system
(13)
and and
(9) (14)

can be achieved by minimizing the following quadratic finite- in which , and .

horizon integral performance index: The state vector , within , can be
represented by the truncated orthogonal functions (OF) as

(15)

(10)
where is the number of terms required for the OF,
denotes the
that is, such that the optimal control performance for the linear OF basis vector, denote the OF,
closed-loop nominal singular system are the coefficient vector, and
(11) is the coefficient matrix.
Theoretically, the larger the value , the more accurate are
can be achieved by minimizing the following quadratic integral the approximate solution. According to the previous research
performance index: experience of the authors [25]–[31], is generally
enough for the shifted-Chebyshev function and the shifted-Le-
gendre function to obtain the satisfactorily accurate results.
Therefore, we adopt the shifted-Chebyshev function as the OF
basis function in this paper.
(12)
Substituting the truncated OF representation of in
where denotes a small time interval which is chosen for the (15) into the quadratic integral performance index in (12), the
independent variable is a positive integer specified by de- quadratic integral performance index becomes the following
signer, is a symmetric positive-semidefinite matrix, and is a algebraic form:
symmetric positive-definite matrix. Here the time interval of in-
terest is designated as being from to , where
is the initial time and is the final time of the control
period. The problem to be studied in this paper can be named (16)

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CHEN et al.: ROBUST QUADRATIC FINITE-HORIZON OPTIMAL STATIC OUTPUT FEEDBACK CONTROLLERS 547

where the constant matrix is the product-integration-matrix freedom (DOF) mass-spring-damper mechanical system. The
of two OF basis vectors [28]. equations of motion for this system is
Integrating (11) from to within
, we obtain

(17) (22)

Using the following integral property of the OF: where and are the system outputs and denote the in-
dependent generalized coordinates, and and are the
(18) control input. In this example, due to the measurement errors,
changes in operating points, changes in environmental condi-
applying (14) and (15), and making use of the Kronecker tions, aging, and/or other modeling inaccuracies [35], we as-
product, the explicit form for the coefficient matrix can be sume that the parameter uncertainties of this two DOF system
obtained from (17) as arise from the uncertain damping coefficients and with
(N/m/sec), and the uncertain masses
(19) and with and
(kg). In addition, we also assume that (N/m), and
where denotes the identity ma- the position variations of the collocated actuator and displace-
trix, ment sensor are set to be 5%.
denotes the Kronecker Most control and analysis of dynamic systems in the litera-
product [32], and is the operational matrix of integration for tures use the standard state-space model equation to describe the
the OF [28]. This implies that can be obtained from (19). dynamic system in (22) as following:
Now, if one output feedback gain matrix is given,
then can be calculated from
(19) only involving the algebraic computation. It is obvious
that if one output feedback gain matrix is specified, then
can be determined, and thus the
value of the performance index in (16) corresponding to this
feedback gain matrix can be calculated. Given another output
feedback gain matrix , there obtains another value of the
performance index in (16). That is, the value of the performance
index of algebraic form in (16) is actually dependent on the
output feedback gain matrix , which means

(20)

where ( and ), respectively,

denote the elements of the output feedback gain matrix .
Hence, the design problem becomes the static-parameter-con-
strained-optimization problem

(21a) (23)

In the standard state-space equation shown in (23), the elements

(21b) ( and ) are composed of real system parameters in non-
linear way (i.e., rational function of system parameters). So,
where ( and ) are the posi- even the different bounds of system parameters ( and )
tive real numbers given from the practical consideration, respec- are given, it is still difficult to analyze and understand the effect
tively. Then, the HTGA can be employed to search for the op- of individual parametric uncertainties upon the robust controller
timal solution of the static-constrained-optimization problem in design. Besides, if the elemental information of the individual
(21), where (21a) is a nonlinear function with the continuous parametric uncertainties is considered in the robust controller
variables. The detailed steps of the HTGA are described in the design, the result will be less conservative than those results that
works proposed by Chou and his associates [33], [34]. do not utilize the elemental information of the individual para-
metric uncertainties [36]–[38]. This is the main disadvantage of
IV. DESIGN EXAMPLE adopting the standard state-space equation in (23) to design the
An artificial singular system given-below is introduced to robust controllers. Therefore, to overcome the mentioned-above
demonstrate the proposed technique. Consider a two degree-of- disadvantage, the singular system model in the following (24) is

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548 www.DownloadPaper.ir IEEE SYSTEMS JOURNAL, VOL. 3, NO. 4, DECEMBER 2009

used in this example to replace the standard state-space model

in (23) for designing the robust optimal controllers. Under those
aforementioned assumptions, the two DOF mass-spring-damper
mechanical system in (22) can be rewritten as the following
linear uncertain singular system:

(24a)

(24b)

where

Fig. 1. State responses of the uncertain mass-spring-damper mechanical

system with the designed robust-stable and quadratic-optimal static output
feedback controller.

output feedback controller. In the OFA, the type of OF consid-

ered in this example is the shifted-Chebyshev functions. The
evolutionary environments of the HTGA used in this example
are: the population size is 30, the crossover rate is 0.7, the mu-
tation rate is 0.5, and the generation number is 30.
After using the proposed integrative approach with
and in which ( and ) are the
elements of the output feedback gain matrix , we can obtain
that the quadratic integral performance index is
and the robust-stable and quadratic-optimal static output feed-
back gain matrix is

and we have that both inequalities in (7) are simultaneously sat-

isfied. Then, we can conclude that the linear closed-loop uncer-
tain singular system is regular, impulse-free and
asymptotically stable. The output responses of displacements
and the control forces for the two DOF uncertain mass-spring-
damper mechanical system with the designed robust-stable and
quadratic-optimal static output feedback controller are, respec-
tively, shown in Figs. 1 and 2. From Fig. 1, it can be seen that
the robust stabilizability property is achieved. Hence, we can
conclude that the proposed integrative method, which integrates
The quadratic finite-horizon integral performance index is the OFA, the HTGA and the robust stabilizability criterion, may
provide an effective way for designing the robust-stable and
quadratic-optimal static output feedback controllers of the linear
uncertain singular systems.
Remark 2: The designed robust quadratic finite-horizon op-
(25)
timal static output feedback controller, which is an optimal regu-
lator, not only regulate the initial nonzero state vector to approx-
in which and imate to zero in finite time period, but also can get the best per-
. The initial state vector for this system is formance measure with respect to given the initial state .
. For many different initial states vectors, our approach can ob-
In the following, we will apply the proposed approach, which tain the different optimal static output feedback controller gain
integrates the OFA, the HTGA and the robust stabilizability cri- and still regulate the initial nonzero state vector to approximate
terion, to design the robust-stable and quadratic-optimal static to zero in finite time period.

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CHEN et al.: ROBUST QUADRATIC FINITE-HORIZON OPTIMAL STATIC OUTPUT FEEDBACK CONTROLLERS 549

shown that the proposed integrative approach is effective for

designing the robust-stable and quadratic-optimal static output
feedback controller of the linear uncertain singular system.

ACKNOWLEDGMENT
The authors thank the reviewers and the associate editor for
their constructive comments and suggestions.

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to the optimal-control of time-varying linear systems,” Int. J. Control, degrees in mechanical engineering from the National
vol. 41, no. 1, pp. 135–144, Jan. 1985. Taiwan University of Science and Technology,
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of Takagi-Sugeno fuzzy-model-based dynamic equations,” Math. degree in mechanical and mechatronic engineering
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based dynamic equations using shifted Chebyshev series approach,” He is currently a Professor of mechanical engi-
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Sugeno fuzzy model based systems,” IEEE Trans. Syst., Man, Cybern. a Professor and the Chairman with the Mechanical
A, vol. 37, no. 3, pp. 329–339, May 2007. Engineering Department from October 2006 to July 2009. His research interests
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of TS-fuzzy-model-based dynamic systems with both elemental para-
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2007. in industrial and information management from the
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control for the TS-fuzzy-model-based time-delay control systems,” 1998, and the M.S. degree in mechanical and automa-
IEEE Trans. Syst., Man, Cybern. A, vol. 38, no. 4, pp. 933–944, July tion engineering and the Ph.D. degree in engineering
2008. science and technology from the National Kaohsiung
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McGraw-Hill, 1979. siung City, Taiwan, in 2002 and 2006, respectively.
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rithm for global numerical optimization,” IEEE Trans. Evol. Comput., Department of Medical Information Management, Kaohsiung Medical Uni-
vol. 8, no. 4, pp. 365–377, Aug. 2004. versity, Kaohsiung City. His research interests include intelligent systems and
[34] J. T. Tsai, J. H. Chou, and T. K. Liu, “Tuning the structure and param- control, computational intelligence and methods, robust control, and quality
eters of a neural network by using hybrid Taguchi-genetic algorithm,” engineering.
IEEE Trans. Neural Netw., vol. 17, no. 1, pp. 69–80, Jan. 2006.
[35] D. J. Inman, Vibration With Control, Measurement and Stability. En-
glewood Cliffs, NJ: Prentice-Hall, 1989.
[36] A. Weinmann, Uncertain Models and Robust Control. New York:
Springer-Verlag, 1991. Jyh-Horng Chou (M’04–SM’04) received the B.S.
[37] J. H. Chou, S. H. Chen, and I. R. Horng, “Robust stability bound on and M.S. degrees in engineering science from the
linear time-varying uncertainties for linear digital control systems National Cheng-Kung University, Tainan, Taiwan, in
under finite wordlength effects,” JSME Int. J. Ser. C-Mech. Syst., 1981 and 1983, respectively, and the Ph.D. degree
Mach. Elements Manufact., vol. 39, no. 4, pp. 767–771, Dec. 1996. in mechatronic engineering from the National Sun
[38] I. R. Horng, H. Y. Horng, and J. H. Chou, “Eigenvalue clustering in Yat-Sen University, Kaohsiung City, Taiwan, in
subregions of the complex-plane for interval dynamic systems,” Int. J. 1988.
Syst. Sci., vol. 24, no. 5, pp. 901–914, May 1993. He is currently a Professor, the Vice President, and
the Acting President of the National Kaohsiung First
University of Science and Technology, Kaohsiung
City, Taiwan. His current research interests include
intelligent systems and control, computational intelligence and methods, au-
tomation technology, robust control, and quality engineering. He is an Editorial
Member or an Associate Editor of nine international journals.

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