Discrete-time Lyapunov-based small-gain theorem for parameterized interconnected ISS systems

Input-to-state stability (ISS) of a feedback interconnection of two discrete-time ISS systems satisfying an appropriate small gain condition is investigated via the Lyapunov method. In particular, an ISS Lyapunov function for the overall system is constructed from the ISS Lyapunov functions of the two subsystems. We consider parameterized families of discrete-time systems that naturally arise when an approximate discrete-time model is used in controller design for a sampled-data system.     

Robust ISS of uncertain discrete-time singularly perturbed systems with disturbances

This paper is concerned with robustly input-to-state stable (ISS) and Robust ISS by feedback of uncertain discrete-time singularly perturbed systems (SPSs) with disturbances. Meanwhile, robust stability and stabilisation of uncertain discrete-time SPSs are also obtained as the particular cases of robust ISS and robust ISS by feedback. We first find a sufficient condition by using the fixed-point principle in terms of linear matrix inequalities (LMIs) to guarantee that the considered system is always standard discrete-time SPSs subject to uncertainty and disturbances. Then, the full systems could decompose into the continuous-time uncertain slow subsystem with disturbance and discrete-time uncertain fast subsystems with disturbance, respectively. Based on the two-time-scale decomposition technique, sufficient condition in terms of LMIs is given such that the full systems are uniformly standard and robust ISS simultaneously. In addition, a state feedback controller is constructed by using the LMI approach such that the resulting closed-loop systems are robust ISS. Finally, a numerical example is provided to illustrate the effectiveness of the proposed approach.     

Input-to-state stability and integral input-to-state stability of nonlinear impulsive systems with delays

This paper is concerned with analyzing input-to-state stability (ISS) and integral-ISS (iISS) for nonlinear impulsive systems with delays. Razumikhin-type theorems are established which guarantee ISS/iISS for delayed impulsive systems with external input affecting both the continuous dynamics and the discrete dynamics. It is shown that when the delayed continuous dynamics are ISS/iISS but the discrete dynamics governing the impulses are not, the ISS/iISS property of the impulsive system can be retained if the length of the impulsive interval is large enough. Conversely, when the delayed continuous dynamics are not ISS/iISS but the discrete dynamics governing the impulses are, the impulsive system can achieve ISS/iISS if the sum of the length of the impulsive interval and the time delay is small enough. In particular, when one of the delayed continuous dynamics and the discrete dynamics are ISS/iISS and the others are stable for the zero input, the impulsive system can keep ISS/iISS no matter how often the impulses occur. Our proposed results are evaluated using two illustrative examples to show their effectiveness.     

Strong iISS is preserved under cascade interconnection

In a recent paper, we have introduced the notion of Strong iISS as a compromise between the strength of input-to-state stability (ISS) and the generality of integral ISS (iISS). In this note, we continue the investigations around this property by studying its behavior in an interconnection context. In particular, we show that the cascade of Strongly iISS systems is itself Strongly iISS and we recall some useful tools to study Strongly iISS systems in feedback interconnection.     

Lyapunov conditions for input-to-state stability of impulsive systems

This paper introduces appropriate concepts of input-to-state stability (ISS) and integral-ISS for impulsive systems, i.e., dynamical systems that evolve according to ordinary differential equations most of the time, but occasionally exhibit discontinuities (or impulses). We provide a set of Lyapunov-based sufficient conditions for establishing these ISS properties. When the continuous dynamics are ISS, but the discrete dynamics that govern the impulses are not, the impulses should not occur too frequently, which is formalized in terms of an average dwell-time (ADT) condition. Conversely, when the impulse dynamics are ISS, but the continuous dynamics are not, there must not be overly long intervals between impulses, which is formalized in terms of a novel reverse ADT condition. We also investigate the cases where (i) both the continuous and discrete dynamics are ISS, and (ii) one of these is ISS and the other only marginally stable for the zero input, while sharing a common Lyapunov function. In the former case, we obtain a stronger notion of ISS, for which a necessary and sufficient Lyapunov characterization is available. The use of the tools developed herein is illustrated through examples from a Micro-Electro-Mechanical System (MEMS) oscillator and a problem of remote estimation over a communication network.     

具有状态和控制约束的受扰离散线性切换系统的反馈控制

本文的主要贡献是针对一类具有重置函数及由外部不能控事件决定动态的离散时间线性切换系统,给出一些稳定性综合结论. 当系统受到外部有界扰动, 及状态和控制量约束时, 在输入到状态稳定性理论框架下, 研究使得系统镇定的线性状态反馈控制器设计方法. 针对这类混杂系统, 本文引入了受控D不变性的概念, 并给出检测某一混杂区域具有受控D不变性的充要条件. 进而, 提出一种能够使得受扰的线性切换系统镇定, 同时保证状态和控制量满足其约束的反馈矩阵的计算方法. 最后, 通过一个由两个子系统构成的数值例子来说明本文技术的应用性.     

Input-to-state stability for networked control systems via an improved impulsive system approach

This paper presents a novel impulsive system approach to input-to-state stability (ISS) analysis of networked control systems (NCSs) with time-varying sampling intervals and delays. This approach is based upon the new idea that an NCS can be viewed as an interconnected hybrid system composed of an impulsive subsystem and an input delay subsystem. A new type of time-varying discontinuous Lyapunov-Krasovskii functional, which makes full use of the information on the piecewise-constant input and the bounds of the network delays, is introduced to analyze the ISS property of NCSs. Linear matrix inequality based sufficient conditions are derived for ISS of NCSs with respect to external disturbances. When applied to the approximate tracking problem for NCSs, the derived ISS result provides bounds on the steady-state tracking error. Numerical examples are provided to show the efficiency of the proposed approach.     

Input‐to‐state stability of nonlinear stochastic time‐varying systems with impulsive effects

This paper considers the input‐to‐state stability, integral‐ISS, and stochastic‐ISS for impulsive nonlinear stochastic systems. The Lyapunov function considered in this paper is indefinite, that is, the rate coefficient of the Lyapunov function is time‐varying, which can be positive or negative along time evolution. Lyapunov‐based sufficient conditions are established for ensuring ISS of impulsive nonlinear stochastic systems. Three examples involving one from networked control systems are provided to illustrate the effectiveness of theoretical results obtained. Copyright © 2016 John Wiley & Sons, Ltd.     

Input-to-state stability and interconnections of discontinuous dynamical systems

In this paper we will extend the input-to-state stability (ISS) framework to continuous-time discontinuous dynamical systems (DDS) adopting piecewise smooth ISS Lyapunov functions. The main motivation for investigating piecewise smooth ISS Lyapunov functions is the success of piecewise smooth Lyapunov functions in the stability analysis of hybrid systems. This paper proposes an extension of the well-known Filippov’s solution concept, that is appropriate for ‘open’ systems so as to allow interconnections of DDS. It is proven that the existence of a piecewise smooth ISS Lyapunov function for a DDS implies ISS. In addition, a (small gain) ISS interconnection theorem is derived for two DDS that both admit a piecewise smooth ISS Lyapunov function. This result is constructive in the sense that an explicit ISS Lyapunov function for the interconnected system is given. It is shown how these results can be applied to construct piecewise quadratic ISS Lyapunov functions for piecewise linear systems (including sliding motions) via linear matrix inequalities.     

Robustness of delayed multistable systems with application to droop-controlled inverter-based microgrids

Motivated by the problem of phase-locking in droop-controlled inverter-based microgrids with delays, the recently developed theory of input-to-state stability (ISS) for multistable systems is extended to the case of multistable systems with delayed dynamics. Sufficient conditions for ISS of delayed systems are presented using Lyapunov–Razumikhin functions. It is shown that ISS multistable systems are robust with respect to delays in a feedback. The derived theory is applied to two examples. First, the ISS property is established for the model of a nonlinear pendulum and delay-dependent robustness conditions are derived. Second, it is shown that, under certain assumptions, the problem of phase-locking analysis in droop-controlled inverter-based microgrids with delays can be reduced to the stability investigation of the nonlinear pendulum. For this case, corresponding delay-dependent conditions for asymptotic phase-locking are given.     

Robust control of decomposable LPV systems

This paper considers distributed control of a class of interconnected systems, namely decomposable linear parameter-varying (LPV) systems, which include multi-agent systems with LPV agent models and switching communication topology as a special case. Sufficient conditions for stability are established for uncertain time-invariant as well as for time-varying interconnection topologies in a known set. Recent work on distributed state feedback controller synthesis is extended to robust output feedback controller synthesis. Here robustness refers to variations in the topology as well as the LPV dynamics of the subsystems.     

Input-to-state stability of robust receding horizon control with an expected value cost

This paper is concerned with the stability of a class of receding horizon control (RHC) laws for constrained linear discrete-time systems subject to bounded state disturbances and convex state and input constraints. The paper considers the class of finite horizon feedback control policies parameterized as affine functions of the system state, calculation of which can be shown to be tractable via a convex reparameterization. When minimizing the expected value of a finite horizon quadratic cost, we show that the value function is convex. When solving this optimal control problem at each time step and implementing the result in a receding horizon fashion, we provide sufficient conditions under which the closed-loop system is input-to-state stable (ISS).     

Input-to-state stability for a class of Lurie systems

We analyze input-to-state stability (ISS) for the feedback interconnection of a linear block and a nonlinear element. This study is of importance for establishing robustness against actuator nonlinearities and disturbances. In the absolute stability framework, we prove ISS from a positive real property of the linear block, by restricting the sector nonlinearity to grow unbounded as its argument tends to infinity. When this growth condition is violated, examples show that the ISS property is lost. The result is used to give a simple proof of boundedness for negative resistance oscillators, such as the van der Pol oscillator. In a separate application, we relax the minimum phase assumption of an earlier boundedness result for systems with nonlinearities that grow faster than linear.     

基于仿射控制输入的输入状态稳定非线性预测控制

针对有扰动的约束非线性系统,提出了一种基于仿射控制输入的反馈预测控制策略.采用无穷范数定义有限时域代价函数,对其进行极大极小优化得到预测控制律,并应用输入状态稳定分析了闭环系统的鲁棒稳定性,同时还给出了确定容许扰动上界的方法.最后,数值仿真说明本文的预测控制策略是有效的.     

Revisiting the IISS Small‐Gain Theorem through Transient Plus ISS Small‐Gain Regulation

Recently, the small‐gain theorem for input‐to‐state stable (ISS) systems has been extended to the class of integral input‐to‐state stable (iISS) systems. Feedback connections of two iISS systems are robustly stable with respect to disturbance if an extended small‐gain condition is satisfied. It has been proved that at least one of the two iISS subsystems needs to be ISS for guaranteeing globally asymptotic stability and iISS of the overall system. Making use of this necessary condition for the stability, this paper gives a new interpretation to the iISS small gain theorem as transient plus ISS small‐gain regulation. The observation provides useful information for designing and analyzing nonlinear control systems based on the iISS small‐gain theorem.     

A new unified input‐to‐state stability criterion for impulsive stochastic delay systems with Markovian switching

In this paper, the problems of the input‐to‐state stability (ISS), the integral input‐to‐state stability (iISS), the stochastic input‐to‐state stability (SISS) and the e^λt(λ>0)‐weighted input‐to‐state stability (e^λt‐ISS) are investigated for nonlinear time‐varying impulsive stochastic delay systems with Markovian switching. We propose one unified criterion for the stabilizing impulse and the destabilizing impulse to guarantee the ISS, iISS, SISS and e^λt‐ISS for such systems. We verify that when the upper bound of the average impulsive interval is given, the stabilizing impulsive effect can stabilize the systems without ISS. We also show that the destabilizing impulsive signal with a given lower bound of the average impulsive interval can preserve the ISS of the systems. In addition, one criterion for guaranteeing the ISS of nonlinear time‐varying stochastic hybrid systems under no impulsive effect is derived. Two examples including one coupled dynamic systems model subject to external random perturbation of the continuous input and impulsive input disturbances are provided to illustrate the effectiveness of the theoretic results developed.     

Further results on input-to-state stability for nonlinear systems with delayed feedbacks

We consider a class of nonlinear control systems for which stabilizing feedbacks and corresponding Lyapunov functions for the closed-loop systems are available. In the presence of feedback delays and actuator errors, we explicitly construct input-to-state stability (ISS) Lyapunov-Krasovskii functionals for the resulting feedback delayed dynamics, in terms of the available Lyapunov functions for the original undelayed dynamics, which establishes that the closed-loop systems are input-to-state stable (ISS) with respect to actuator errors. We illustrate our results using a generalized system from identification theory and other examples.     

A “mixed” small gain and passivity theorem in the frequency domain

We show that the negative feedback interconnection of two causal, stable, linear time-invariant systems, with a “mixed” small gain and passivity property, is guaranteed to be finite-gain stable. This “mixed” small gain and passivity property refers to the characteristic that, at a particular frequency, systems in the feedback interconnection are either both “input and output strictly passive”; or both have “gain less than one”; or are both “input and output strictly passive” and simultaneously both have “gain less than one”. The “mixed” small gain and passivity property is described mathematically using the notion of dissipativity of systems, and finite-gain stability of the interconnection is proven via a stability result for dissipative interconnected systems.