I Sistemi Positivi Realizzazione: esistenza a tempo continuo e minimalità Lorenzo Farina...
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Transcript of I Sistemi Positivi Realizzazione: esistenza a tempo continuo e minimalità Lorenzo Farina...
I Sistemi Positivi Realizzazione: esistenza a tempo continuo e minimalità
Lorenzo FarinaDipartimento di informatica e sistemistica “A.
Ruberti”Università di Roma “La Sapienza”, Italy
X Scuola Nazionale CIRA di dottorato “Antonio Ruberti”
Bertinoro, 10-12 Luglio 2006
2
The positive realization problem for continuous-time systems
Im
Re
a
l*1
l*2
l*F
lF alal
alla
A
IA
pAI
IAIp
det
det
Spectrum translation property
if is Metzler, then there exists
0 such that is nonnegative
A
A Ia a
3
Existence conditions
4
Examples - I
2
3 2
4 14
6 11 6
sH s
s s s
1 2 31, 2, 3 p p p
0 1 2 3 4 50
0.5
1
1.5
2
2.5
3
3.5
4
log 5 3 0.51
… not to be!
5
Examples - II
2
2
2 3 3
1 2 2
s sH s
s s s
1 2 31, 1 , 1 p p j p j
2 sin 0th t e t
0 1 2 3 4 50
0.5
1
1.5
2
… not to be!
6
Minimality of Positive Realizations
7
Does positive factorization suffice?
For general systems, the minimal inner dimension of a factorization of the Hankel matrix coincides with the minimal order of a realization.
Is that true also for positive systems?
2
2 3
2 3
22
cb cAb cA b
cAb cA b cA bH
cA b cA b
c
cAb Ab A b RS
cA
8
Does positive factorization suffice?
1 0 0 8 1
0 0 1 1 1
0 1 0 1 1
TA b c
1 4 10h k
2 4 8h k 3 4 6h k 4 4 8h k
0
60120
180
240 300
No rotational simmetry, no 3rd order positive
realization...
9
Does positive factorization suffice? No!
11 12
12
5 3 32 1 0 1
4 2 60 1 1 0
3 5 50 0 1 1
4 6 2
ij
H H
H H H
A positive factorization of the Hankel matrix!
10
A prologue via examples (I)
2
1, 1
( 1)( 1)qH z q q
z z
11
The spectrum must remain unchanged under a rotation
of /2(q+1) radians
A prologue via examples (I)
(contd.)
12
The spectrum must remain unchanged under a rotation
of /4 radians
A prologue via examples (I)
13
The Karpelevich theorem
14
The Karpelevich regions
n = 3
n = 4
15
hidden pole
A prologue via examples (II)
16
Example 3
17
= 0
2= 0
2 O
= 0
3= 0 3
18
Minimality of Positive SystemsNSC for 3rd order systems
19
{1{1
(contd.)
2
3
Minimality of Positive SystemsNSC for 3rd order systems
20
(contd.)
Minimality of Positive SystemsNSC for 3rd order systems
21
(contd.)
Minimality of Positive SystemsNSC for 3rd order systems
22
(contd.)
Minimality of Positive SystemsNSC for 3rd order systems
23
Minimality for continuous-time positive systems
Generation of all positive realizations
25
Example 1