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Fixed-order Controller Design for State Space Polytopic Systems by Convex Optimization

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Control theory

Control theory is a field of control engineering and applied mathematics that deals with the control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive the system to a desired state, while minimizing any delay, overshoot, or steady-state error and ensuring a level of control stability; often with the aim to achieve a degree of optimality. To do this, a controller with the requisite corrective behavior is required.

Lyapunov stability

Various types of stability may be discussed for the solutions of differential equations or difference equations describing dynamical systems. The most important type is that concerning the stability of solutions near to a point of equilibrium. This may be discussed by the theory of Aleksandr Lyapunov. In simple terms, if the solutions that start out near an equilibrium point stay near forever, then is Lyapunov stable. More strongly, if is Lyapunov stable and all solutions that start out near converge to , then is said to be asymptotically stable (see asymptotic analysis).

Matrix (mathematics)

In mathematics, a matrix (plural matrices) is a rectangular array or table of numbers, symbols, or expressions, arranged in rows and columns, which is used to represent a mathematical object or a property of such an object. For example, is a matrix with two rows and three columns. This is often referred to as a "two by three matrix", a " matrix", or a matrix of dimension . Without further specifications, matrices represent linear maps, and allow explicit computations in linear algebra.

Rank (linear algebra)

In linear algebra, the rank of a matrix A is the dimension of the vector space generated (or spanned) by its columns. This corresponds to the maximal number of linearly independent columns of A. This, in turn, is identical to the dimension of the vector space spanned by its rows. Rank is thus a measure of the "nondegenerateness" of the system of linear equations and linear transformation encoded by A. There are multiple equivalent definitions of rank. A matrix's rank is one of its most fundamental characteristics.

Convex function

In mathematics, a real-valued function is called convex if the line segment between any two distinct points on the graph of the function lies above the graph between the two points. Equivalently, a function is convex if its epigraph (the set of points on or above the graph of the function) is a convex set. A twice-differentiable function of a single variable is convex if and only if its second derivative is nonnegative on its entire domain.

Transfer function

In engineering, a transfer function (also known as system function or network function) of a system, sub-system, or component is a mathematical function that models the system's output for each possible input. They are widely used in electronic engineering tools like circuit simulators and control systems. In some simple cases, this function can be represented as two-dimensional graph of an independent scalar input versus the dependent scalar output, called a transfer curve or characteristic curve.

Matrix norm

In mathematics, a matrix norm is a vector norm in a vector space whose elements (vectors) are matrices (of given dimensions). Given a field of either real or complex numbers, let be the K-vector space of matrices with rows and columns and entries in the field . A matrix norm is a norm on . This article will always write such norms with double vertical bars (like so: ).

Trace (linear algebra)

In linear algebra, the trace of a square matrix A, denoted tr(A), is defined to be the sum of elements on the main diagonal (from the upper left to the lower right) of A. The trace is only defined for a square matrix (n × n). It can be proven that the trace of a matrix is the sum of its (complex) eigenvalues (counted with multiplicities). It can also be proven that tr(AB) = tr(BA) for any two matrices A and B. This implies that similar matrices have the same trace.

H-infinity methods in control theory

H∞ (i.e. "H-infinity") methods are used in control theory to synthesize controllers to achieve stabilization with guaranteed performance. To use H∞ methods, a control designer expresses the control problem as a mathematical optimization problem and then finds the controller that solves this optimization. H∞ techniques have the advantage over classical control techniques in that H∞ techniques are readily applicable to problems involving multivariate systems with cross-coupling between channels; disadvantages of H∞ techniques include the level of mathematical understanding needed to apply them successfully and the need for a reasonably good model of the system to be controlled.

Linear system

In systems theory, a linear system is a mathematical model of a system based on the use of a linear operator. Linear systems typically exhibit features and properties that are much simpler than the nonlinear case. As a mathematical abstraction or idealization, linear systems find important applications in automatic control theory, signal processing, and telecommunications. For example, the propagation medium for wireless communication systems can often be modeled by linear systems.