C017 LinearizationDelaySystems CESA96 Lille SCAN
C017 LinearizationDelaySystems CESA96 Lille SCAN
C017 LinearizationDelaySystems CESA96 Lille SCAN
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CESA'96 IMACS Multiconference.
Volume 10'2
CESA'96 IMACS Multiconference
Steering Committee:
Members:
A. AZMANI L. DUBOIS W.KORBAA
P.BORNE S. EL KHATT ABI P.KUBIAK
G. CUIENGNET J.GARCIA H.OHL
A.M. DESODT S.HAYAT J.ROZINOER
F.DELMOTTE A.KAMEL A. SCHMITT
J.Y. DIEULOT V.KONCAR X.ZENG
LINEARIZATION OF INPUT-OUTPUT MAPPING
FOR NONLINEAR DELAY SYSTEMS
VIA STATIC STATE FEEDBACK
599
obviously X.i;(t) is defined for t ~ (.I: -1).6. and U.i;(t) It is easy to verify that for a system having delay
for t ~ k.6.. relative degree equal to r the time derivative of the
Moreover, for k ~ 1 let us define output until order r - 1 can be written as
!(x(t),x(t -.6.))
!(x(t - .6.), x(t - 2.6.»)
1 k=0,1, ... ,r-1,
F.i;-l(Xk) =[ . , (2.12)
while the r-th output derivative can be expressed as
!(x(t - (k - 1)~), x(t - k.6.)))
(2.4) y(r){t) = L~lh(Xr(t» + LG._ 1 L~-llh(Xr(t)Ur_l(t),
and the block-diagonal matrix (2.13)
G I: -1 (XI:) = diag [
g(x(t), x(t - .6.»)
:
1 .
or, taking into account the decomposition (2.10),
(2.7)
L~.h(Xp) =h(Xp). k =1,2, ... ,p,
and also
Note that L} h(Xp} is actually a function of X".
The derivativ: of this term along the directions of
the columns of Gp gives
LG._IL~-llh(X,,) = 0, Ie= 1,2, ... ,r-l, Remark 2.3. Note that for the nonlinear system
600
3. MAIN RESULTS the set of such eigenvalues and let [0'0 0'1 ... 0',.-1]
be, in increasing order, the coefficients of the monic
Theorem 3.4. If the nonlinear delay system (2.1) polynomial having ..\ as solutions. The control law
(2.2) has delay relative degree r at a point X r, the (3.19) in which
feedback control law
vet) = -O'r_ly,.-I)(t) - ... - O'oy(t), (3.23)
vet) - Lr1h(X,.(t» - m"
u(t) - - - - f - -"'"'":7"---- (3.19)
- LgLr-1]h(X,,(t» assigns the prescribed linear dynamics, without delay,
to the output variable. Note that the derivatives of
the output of order until r - 1 are functions of X,.-I,
where m,. (X,. (t), u(t - Ll), ... , u(t - (r - 1)..1.)) and are given by (2.12).
is such that in a neighborhood of X,. the input-output As in the classical non delayed case, although the
mapping assumes the form input is such to bring the output yet) exponentially
to zero, the same can not be said in general on the
y(I")(t) = vet). (3.20) variable z(t). As a consequence the control technique
here presented is restricted to minimum phase non-
If the system (2.2) (2.2) has delay relative degree r linear delay systems.
at any point X,. E ~.("+1) the control law (3.19) is
global. 4. EXAMPLE OF APPLICATION
Proof. It follows directly from the definition of delay
As an example of application consider the follow-
relative degree and from equation (2.14), in which the
ing system, describing a particular population growth
expression (3.19) is substituted. •
model
Remark 3.5. The control law (3.19) transforms
the input-output mapping given by (2.1) (2.2) in a :rl(t) = aZ2(t) + bz 1(t - ..1.)z2(t - A),
linear one without delay. However, the input u is still :r2(t) = CZ2(t - A) + u(t), (4.24)
a function of the state variables z from instant t to
yet) = ZI(t).
t - rA, and of the input u itself from instant t - A
to t - (r - 1)..1.. Thus, although from an external
The delay relative degree for this system is 2. Note
point of view the system under feedback has finite
that even in this case the minimum phase property of
dimensional dynamics, its internal dynamics is still
the system is not guaranteed, because of the infinite
infinite dimensional. •
dimensional character of the zero dynamics.
The control law (3.19) is such that if at a given The feedback control law assumes the form
time lone has
601
We would like to stress that with the chosen parameters
.. . . . -
1,50
the considered model in open loop is strongly unstable.
t:~~=;~F~=r
1,00
5. CONCLUSIONS
The control problem of nonlinear delay systems is here 0,50
investigated. It is well known that the analysis of such
systems is heavily complicated by the infinite dimension- 0,00
ality of the state and by the nonlinear structure of the .o,so
differential equations. The main contribution of this pa-
per is the definition of a suitable mathematical formal- -1,00
ism which a.llows the analysis of nonlinear delay systems
through classical tools of finite dimensional differential ge- -1,50
ometry. The use of this formalism allows the definition of
an interesting class of nonlinear delay systems, that can -2,00
be said minimum phase. For such class a feedback con-
trollaw is presented that linearizes and mues undelayed -2,50
the input-output mapping. ~10 ~ ~ ~
602