LMIs in Control/pages/Exterior Conic Sector Lemma
The Concept[edit | edit source]
The conic sector theorem is a powerful input-output stability analysis tool, providing a fine balance between generality and simplicity of system characterisations that is conducive to practical stability analysis and robust controller synthesis.
The System[edit | edit source]
Consider a square, contiuous-time linear time-invariant (LTI) system, , with minimal state-space relization (A, B, C, D), where and .
The Data[edit | edit source]
The matrices The matrices and
LMI : Exterior Conic Sector Lemma[edit | edit source]
The system is in the exterior cone of radius r centered at c (i.e. exconer(c)), where and , under either of the following equivalent necessary and sufficient conditions.
- 1. There exists P , where P , such that
- 2. There exists P , where P , such that
Proof, Applying the Schur complement lemma to the terms in (1) gives (2).
Conclusion:[edit | edit source]
If there exist a positive definite matrix satisfying above LMIs then the system is in the exterior cone of radius r centered at c.
Implementation[edit | edit source]
Code for implementation of this LMI using MATLAB. https://github.com/VJanand25/LMI
Related LMIs[edit | edit source]
References[edit | edit source]
1. J. C. Willems, “Dissipative dynamical systems - part I: General theory,” Archive Rational
Mechanics and Analysis, vol. 45, no. 5, pp. 321–351, 1972.
2. D. J. Hill and P. J. Moylan, “The stability of nonlinear dissipative systems,” IEEE Transactions on Automatic Control, vol. 21, no. 5, pp. 708–711, 1976.
3. LMI Properties and Applications in Systems, Stability, and Control Theory, by Ryan James Caverly1 and James Richard Forbes2
4. Bridgeman, Leila Jasmine, and James Richard Forbes. "The exterior conic sector lemma." International Journal of Control 88.11 (2015): 2250-2263.