Signal-to-noise ratio fundamental limitations in the discrete-time domain

Fundamental limitations in feedback control are a well established area of research. In recent years it has been extended to the study of limitations imposed by the consideration of a communication channel in the control loop. Previous results characterised these limitations in terms of a minimal data transmission rate necessary for stabilisation. In this paper a signal-to-noise ratio (SNR) approach is used to obtain a tight condition for the linear time invariant output feedback stabilisation of a discrete-time, single-input-single-output (SISO) unstable, non-minimum phase (NMP) plant with arbitrary relative degree over an additive Gaussian coloured noise (ACGN) communication channel with memory. The obtained result gives a guideline in estimating the severity of the fundamental SNR limitation imposed by the plant unstable poles, NMP zeros and relative degree as well as the channel NMP zeros, bandwidth, and noise colouring. We then characterise the output feedback sensitivity function for the infimal SNR solution and follow up by quantifying the extra SNR imposed by suboptimal solutions (for example due to plant modelling errors).     

Signal-to-Noise Ratio Fundamental Limitations in Continuous-Time Linear Output Feedback Control

In the present technical note we study the fundamental limitation on stability that arise when an additive coloured Gaussian noise (ACGN) channel is explicitly considered over either the control or measurement paths of a linear time invariant (LTI) feedback loop. By considering a linear setting we can naturally express the fundamental limitation as a lower bound on the channel signal-to-noise ratio (SNR) required for stabilisability. We start by first obtaining a closed-form expression for the squared L ₂ norm of a partial fraction expansion with repeated poles in the Laplace domain. We then use the squared L ₂ norm result to obtain the closed-form expression for the infimal SNR required for stabilisability. The proposed closed-form includes the case of repeated unstable plant poles and non minimum phase (NMP) zeros.     

Disturbance attenuation over a first-order moving average Gaussian noise channel

In this paper, the problem of disturbance attenuation has been studied for a linear time-invariant feedback control system with a first-order moving average Gaussian noise channel. By applying the concept of entropy power, a lower bound of signal-to-noise ratio has been achieved which is necessary for stabilisation of a system with the limited channel input power constraint. Moreover, the problem of minimising the influence of a stochastic disturbance on the output has also been investigated, and the controller design method has been obtained by using Youla parameterisation and H₂ theory. It is shown that the minimum variance of the system output depends not only on the disturbance variance, noise variance and unstable poles, but also on the non-minimum phase zeros and channel parameter. Finally, the effectiveness of the proposed results is illustrated by a numerical example.     

Feedback Stabilization Over Signal-to-Noise Ratio Constrained Channels

There has recently been significant interest in feedback stabilization problems with communication constraints including constraints on the available data rate. Signal-to-noise ratio (SNR) constraints are one way in which data-rate limits arise, and are the focus of this paper. In both continuous and discrete-time settings, we show that there are limitations on the ability to stabilize an unstable plant over a SNR constrained channel using finite-dimensional linear time invariant (LTI) feedback. In the case of state feedback, or output feedback with a delay-free, minimum phase plant, these limitations in fact match precisely those that might have been inferred by considering the associated ideal Shannon capacity data rate over the same channel. In the case of LTI output feedback, additional limitations are shown to apply if the plant is nonminimum phase. In this case, we show that for a continuous-time nonminimum phase plant, a periodic linear time varying feedback scheme with fast sampling may be used to recover the original SNR requirement at the cost of robustness properties. The proposed framework inherently captures channel noise effects in a simple formulation suited to conventional LTI control performance and robustness analysis, and has potential to handle time delays and bandwidth constraints in a variety of control over communication links problems.     

Linear quadratic gaussian optimization approach for signal-to-noise ratio constrained control over network

The research area of control over networks has attracted great interest in recent years. Inserted in this research area is the study of control feedback limitations imposed by the presence of a communication channel. In this paper we analyze the fundamental limitations in control feedback stabilizability imposed by a class of Signal-to-Noise Ratio (SNR) constrained communication channels. We solve the SNR constrained control over network problem as a linear quadratic Gaussian (LQG) optimization with loop transfer recovery (LTR). If the communication channel is located on the feedback path then the LTR is said to be performed at the output. Vice versa, if the communication channel is on the control path, then the recovery is said to be performed at the input. In the present paper we address both cases, namely the LQG optimization with LTR at the output and the LQG optimization with LTR at the input to solve an LTI SNR constrained problem. We then explore the link between these two solutions.     

Observer-based output feedback control of discrete-time linear systems with input and output delays

In this paper, we study observer-based output feedback control of discrete-time linear systems with both multiple input and output delays. By generalising our recently developed truncated predictor feedback approach for state feedback stabilisation of discrete-time time-delay systems to the design of observer-based output feedback, two types of observer-based output feedback controllers, one being memory and the other memoryless, are constructed. Both full-order and reduced-order observer-based controllers are established in both the memory and memoryless schemes. It is shown that the separation principle holds for the memory observer-based output feedback controllers, but does not hold for the memoryless ones. We further show that the proposed observer-based output feedback controllers solve both the l₂ and l_∞ semi-global stabilisation problems. A numerical example is given to illustrate the effectiveness of the proposed approaches.     

多通道约束下的网络控制系统的最优跟踪性能

本文针对双通道约束下的线性时不变网络控制系统的随机信号跟踪性能极限问题进行了研究.网络通信包含通信噪声和通信带宽两种信道因素.被控系统考虑是非最小相位和不稳定系统,并且系统包含多个不同的非最小相位零点和多个不同的不稳定极点.对上行通道和下行通道都存在通信带宽约束及高斯白噪声影响的情形,从频域角度,通过采用双自由度控制器和尤拉参数化方法,获得了此类网络控制系统的最优可达的跟踪性能.研究结果表明网络控制系统的跟踪性能极限完全由被控对象的结构特征(非最小相位零点、不稳定极点以及被控对象的系统增益),参考输入信号和网络特性(高斯白噪声的统计特征、通信信道带宽)所决定.最后,仿真结果检证了所得结果的正确性.     

Optimal tracking performance of MIMO control systems with communication constraints and a code scheme

This paper investigates the issue of the optimal tracking performance for multiple-input multiple-output linear time-invariant continuous-time systems with power constrained. An H₂ criterion of the error signal and the signal of the input channel are used as a measure for the tracking performance. A code scheme is introduced as a means of integrating controller and channel design to obtain the optimal tracking performance. It is shown that the optimal tracking performance index consists of two parts, one depends on the non-minimum phase zeros and zero direction of the given plant, as well as the reference input signal, while the other depends on the unstable poles and pole direction of the given plant, as well as on the bandwidth and additive white noise of a communication channel. It is also shown that when the communication does not exist, the optimal tracking performance reduces to the existing normal tracking performance of the control system. The results show how the optimal tracking performance is limited by the bandwidth and additive white noise of the communication channel. A typical example is given to illustrate the theoretical results.     

Optimal tracking performance of MIMO discrete‐time systems with communication constraints

The optimal tracking problem for multiple‐input multiple‐output linear‐time‐invariant discrete‐time systems with communication constraints in the feedback path is studied in this paper. The tracking performance is measured by the energy of the error signal between the output of the plant and the reference signal. The objective is to obtain an optimal tracking performance, attainable by all possible stabilizing compensators. It is shown that the optimal tracking performance consists of two parts, one depends on the nonminimum phase zeros and zero direction of the given plant, as well as the reference input signal direction, and the other depends on the nonminimum phase zeros, unstable poles, and pole direction of the given plant, as well as the bandwidth and additive white Gaussian noise of the communication channel. It is also shown that, if the constraint of the communication channel does not exist, the optimal tracking performance reduces to the existing tracking performance of the control system without communication constraints. A typical example is given to illustrate the theoretical results. Copyright © 2011 John Wiley & Sons, Ltd.     

Signal-to-noise ratio fundamental constraints in discrete-time linear output feedback control

In the present paper we study the fundamental limitations on stability that arise when an additive coloured Gaussian noise (ACGN) channel is explicitly considered in a linear time invariant (LTI) control feedback loop. By considering a linear setting we can express the fundamental limitation on stability as a lower bound in closed-form on the ACGN channel signal-to-noise ratio (SNR). Outside the context of networked control, the obtained lower bound can be interpreted as an H₂ performance limitation.     

A numerical investigation of direct and indirect closed-loop architectures for estimating nonminimum-phase zeros

ABSTRACT

This paper presents a numerical investigation of three direct architectures and three indirect architectures for identifying a plant operating in closed loop. Motivated by adaptive control of systems with nonminimum-phase (NMP) zeros and taking advantage of the fact that zeros are not moved by feedback, the performance metric is the accuracy of the estimates of the NMP zeros of the plant. Assuming known plant order, single-input, single-output, infinite-impulse-response models are constructed in the presence of process and sensor noise. Least squares provides the baseline estimation technique, and prediction error methods are used to account for correlation between the model input and noise. The goal is to compare the accuracy of the NMP-zero estimates obtained from each method and for each architecture.     

Regulation performance limitation of networked time-delay systems with incomplete information

In this paper, the regulation performance limitation of networked time-delay systems is studied. The communication network is mainly affected by parameters such as packet dropouts, encoding-decoding, interference signal, and channel noises. Non-minimum phase zeros, unstable poles, and time delay are all considered for a given plant. The corresponding regulation performance expression is derived using coprime factorization and spectral decomposition techniques in the frequency domain. The results indicate that the regulation performance of the system is related to the inherent characteristics of the given plant, including non-minimum phase zeros, unstable poles, and time delay. Additionally, network communication parameters such as white Gaussian noise, packet dropouts, encoding-decoding, and external interference signals all affect the regulation performance of networked time-delay systems. Finally, some simulation examples are provided to demonstrate the effectiveness of the theory.     

An important property of non-minimum-phase multiple-input-multiple-output feedback systems

The non-minimum-phase (NMP( property is easily determined from the requirement that the plant input is bounded. In the single-input-single-output (SISO) system, a right-half-plane (RHP) plant zero at s = b constrains the system transfer function to have a zero at b. Also, the available feedback benefits are significantly restricted. The n × n multiple-input-multiple-output (MIMO) system is NMP if the plant determinant δhas any RHP zeros, say at plant transfer matrix and T = [t_ij is the closed-loop system transfer matrix. It has been thought that all n²t_ij (and the n₂ plant disturbance response function rfj), must suffer from the NMP liability in their feedback properties. It is shown that only one row of need so suffer, with a any fixed integer in [1, n].The remaining n(n — 1) elements can be completely free of the NMP liability. A mathematically rigorous synthesis technique previously developed for MP systems is shown to be well suited for precise numerical design for such NMP MIMO plants with significant uncertainties. In this technique, the MIMO design problem is converted into a number of equivalent SISO problems. An example involving disturbance attenuation in a highly uncertain 2×2 NMP plant is included.     

Achievable performance of multivariable systems with unstable zeros and poles

This paper examines the fundamental limitations imposed by unstable (right half plane; RHP) zeros and poles in multivariable feedback systems. We generalize previously known controller-independent lower bounds on the H     

Feedback Stabilization Over a First Order Moving Average Gaussian Noise Channel

Recent developments in information theory by Y.-H. Kim have established the feedback capacity of a first order moving average additive Gaussian noise channel. Separate developments in control theory have examined linear time invariant feedback control stabilization under signal to noise ratio (SNR) constraints, including colored noise channels. This note considers the particular case of a minimum phase plant with relative degree one and a single unstable pole at z=phi (with |phi| > 1) over a first order moving average Gaussian channel. SNR constrained stabilization in this case is possible precisely when the feedback capacity of the channel satisfies CFB ges log₂ |phi|. Furthermore, using the results of Kim we show that there exist linear encoding and decoding schemes that achieve stabilization within the SNR constraint precisely when CFB ges log₂ |phi|.     

LMI characterization of reduced-order H∞ controllers via invariant zero structure

In this paper, we clarify a new relationship between invariant zeros of a generalized plant and the order reduction of H_∞ controllers by using linear matrix inequalities in both continuous-time and discrete-time cases. In contrast with our recent paper, where a relationship between an unstable transmission-zero structure and the H_∞ controller order reduction is initiated in a fundamental manner, results obtained in this paper are more flexible in two senses: assumptions that are made for the generalized plant are relaxed, and stable as well as unstable invariant zeros are characterized to obtain a reduced-order H_∞ controller.     

Optimal regulation performance of discrete time-delay systems based on quantization and input energy constraints

In this paper, we study the optimal regulation problem of networked control systems and propose a new performance index for a given discrete time-delay system. The regulation performance of the controlled plant is investigated by considering the effects of various constraints on the communication channel such as quantization, bandwidth, and packet dropouts using frequency domain methods and two-degree-of-freedom control techniques. The results show that the regulation performance is not only related to the location and direction of the non-minimum phase zeros and unstable poles of a given system but also related to the internal time delay of the controlled plant. Packet dropouts, quantization, and bandwidth limitations can also negatively affect the optimal performance. In addition, the trade-off of the input energy constraint can also make the optimal regulation performance suffer. Finally, the reliability of this innovative result is illustrated by some simulation examples.     

H ∞ output feedback stabilisation of linear discrete-time systems with impulses

This article addresses the issue of designing an H _∞ output feedback controller for linear discrete-time systems with impulses. First, a new concept of H _∞ output feedback stabilisation for general linear discrete-time systems with impulses is introduced. Then sufficient linear matrix inequality conditions for the stabilisation and H _∞ performance of general discrete systems with impulses are proposed. In addition, the result is applied to resolve typical output feedback control problems for systems with impulses, such as the decentralised H _∞ output feedback control and the simultaneous H _∞ output feedback control. Finally, a numerical simulation is also presented to illustrate the effectiveness of the proposed results.     

编解码和时延约束下的网络化控制系统最优跟踪性能

本文研究了具有丢包、时延、编解码等通信资源受限下多输入多输出离散时间网络控制系统的最优跟踪性能. 基于频域方法, 采用二元随机过程来模拟数据包丢失, 并假设信道噪声是加性高斯白噪声(AWGN), 推导了在丢包、信道噪声、时延和编解码影响下的跟踪性能极限. 采用单参数补偿器(SDOF), 利用互质分解、Youla参数化等工具得到了编解码和时延约束下的网络控制系统最优跟踪性能的显式表达式. 结果表明, 跟踪性能与对象的固有特性(非最小相位零点与不稳定极点的位置和方向)、时延、丢包率和AWGN 功率谱密度密切相关.     

Output feedback design for saturated linear plants using deadzone loops

In this paper, we present an LMI-based synthesis approach on output feedback design for input saturated linear systems by using deadzone loops. Algorithms are developed for minimizing the upper bound on the regional L₂ gain for exogenous inputs with L₂ norm bounded by a given value, and for minimizing this upper bound with a guaranteed reachable set or domain of attraction. The proposed synthesis approach will always lead to regionally stabilizing controllers if the plant is exponentially unstable, to semi-global results if the plant is non-exponentially unstable, and to global results if the plant is already exponentially stable, where the only requirement on the linear plant is detectability and stabilizability. The effectiveness of the proposed techniques is illustrated with one example.