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730050

Asymptotic Stability Problem for Discrete-time Systems with Quantized

Feedback over Channel Model
Yiwei Feng , Zhanming Li, Dongsong Luo
College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China, 730050
Email: ywfeng@yeah.net

Abstract: This paper investigates the problem of asymptotic stability for discrete-time linear systems with quantized state feedback
over channel model. We discussed the controller design combined with channel model and quantizer design. The sufficient
conditions of asymptotic stability for those systems are presented and the method of controller design is also obtained. Finally, the
effectiveness of the proposed conditions is demonstrated by a numerical example.

Key words: channel model; quantized state feedback; discrete-time linear systems; asymptotic stability

[1-4]

[5-9]

[10-13]

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[14-16]

vn
Channel
Sub
channel

u (k )

u (k )

Sub
channel

Plant

x(k )

v(k )
Quantizer

Controller

R R n n 1 N 0 () T () +
Moore-Penrose tr () .T

. 1

1.1

[7]

[17]
[15]
1 /
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u ( k ) = Eu ( k ) + Hv n ( k )

(1)

E , H R mn E H u (k ) R n
v n (k ) R n 2 u (k ) R m

1.2

[13-14, 18] f (,)

ai (k ) i
if vi ( ai (k ) i , ai (k ) i1

f i (k , vi ) = ai (k ) i if vi ( ai (k ) i1 , ai (k ) i

0
if vi = 0

(2)

ai (k ) > 0 0 < i (k ) < 1 i = 1,, m f i (,) vi () f (,) v() i i

i vi () f i (,) .
= { f : N 0 R m R m : f (,0) = 0, [ f ( k , v) M 2 ( k )v] T [ f ( k , v) M 1 ( k )v] 0, u R m , k N 0 }

(3)

M 1 = diag[ M 11 , M 1m ] > 0 M 2 = diag[ M 21 , M 2 m ] > 0

i = M 1i M 2i M 2i M 1i > 0 i = 1, , m 2 (3)
M 1i (k )vi2 f i (k , vi )vi M 2 i (k )vi2 ,

vi R, k N 0

(4)

[12]

i =
i =

M 1i (k ) 1 2 i
i = 1, , m
=
M 2 i (k ) 1 + 2 i

(5)

1
( M 2 i () M 1i ())(M 2 i () + M 1i ()) 1 f i (,) i f (,)
2

(k ) = diag[ 1 (k ), , m (k )] =

1
( M 2 () M 1 ())( M 2 () + M 1 ()) 1
2

(6)

(6) f ((k ), v(k )) f (k , v(k )) .

f (k , v) =

1
( M 1 ( k ) + M 2 ( k ))v( k ) + f n ( k , v)
2

(7)

f n : N 0 R m R m (3) f n
n = { f n : N 0 R m R m : f n (,0) = 0, f nT (k , v) f n (k , v)

1 T

v ( M 2 (k ) M 1 (k )) 2 v 0, v R m , k N 0
4

(8)

M 2 (k ), M 1 (k )

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f (k , u i )
slop =

1
( M 1i ( k ) + M 2 i ( k ))
2

slop = M 1i ( k )

O
slop = M 2 i ( k )

1.3

x(k + 1) = Ax(k ) + Bu (k ), x(0) = x 0 , k N 0

(9)

x(k ) R n x0 N 0 A R nn , B R nm A Hurwitz
( A, B) (1)(7).
u ( k ) = Eu ( k ) + Hv n ( k ), u ( k ) = f (k , v(k )), v( k ) = F ( k ) x(k )

(10)

F R mn (9)(10)
x(k + 1) = Ax(k ) + BEu (k ) + BHv n (k )

(11)

1 x(k , x0 ) (11) x0 x0 R n
x( k , x0 ) = 0
lim
k

(12)

(11)
R R nn Riccati
P = A T PA + R A T PBE ( E T B T PBE ) 1 E T B T PA

(13)

Riccati P = P I .
T

(11)

1 x R n , y R m D E F T F I F
2 x T DEFy x T DD T x +

y T E T Ey

(14)

0 (D T x FEy ) T (D T x FEy ) = 2 x T DD T x 2 x T DFEy + y T E T F T FEy 2 x T DD T x 2x T DFEy + y T E T Ey

(14)

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1 (11) > 0
W Riccati (13) P I
H T B T E T B T 0 , 0 < W = W T < 2 I , K (k ) (2 E T B T PBE ) 1 E T B T PA
R K T (k )(k ) E T B T PB( E + EK (k ) + E ( E T B T PBE ) 1 E T B T PA + H )(k ) K (k ) I > 0 .
v(k ) = 2( M 1 + M 2 ) 1 K (k ) x(k )

(15)

M 1 (k ), M 2 (k ) K (k )
K (k + 1) = K (k )

1
WE + B + ( x(k + 1) AP x(k ) BEf n (k , v) BHvn (k )) x T (k )
1 + x (k ) Px(k )
T

(16)

(11)
AP = A BE ( E T B T PBE ) 1 E T B T PA Riccati (13)
P = APT PAP + R

(17)

APT PBE = AT PBE AT PBE ( E T B T PBE ) 1 E T B T PBE = 0

(18)

(1)(15)(11)
x(k + 1) = AP x(k ) + BEK (k ) x(k ) + BEf n (k , v) + BHvn (k )

(19)

K (k ) = K (k ) + ( E T B T PBE ) 1 E T B T PA (16)
K ( k + 1) = K ( k )

1
WK ( k ) x (k ) x T (k )
1 + x T ( k ) Px( k )

(20)

(20) K (k ) = ( E T B T PBE ) 1 E T B T PA K (k + 1) = K (k ) = 0 . PW
(19)(20) Lyapunov
V ( x, K ) = V1 ( x) + V2 ( K )

(21)

V1 ( x) = ln(1 + x T Px), V2 ( K ) = tr ( K T WK ) x = 0, K = 0 V ( x, K ) = 0 x 0, K 0 V ( x, K ) > 0

V ( x( k ), K ( k )) = V1 ( x( k )) + V2 ( K ( k ))

(22)

V1 ( x(k )) = ln(1 + x T (k + 1) Px(k + 1)) ln(1 + x T (k ) Px(k )) ,(11)

V1 ( x( k )) = ln(1 + x T ( k )( APT PAP + K T ( k ) E T B T PBEK ( k )) x( k ) + f nT ( k , v) E T B T PBEf n ( k , v) +
vnT ( k ) H T B T PBHvn ( k ) + 2 f nT ( k , v) E T B T PBEx( k ) + 2 f nT ( k , v) E T B T PBHvn ( x) +
2v nT ( k )( H T B T PAP + H T B T PBEK ( k )) x( k )) ln(1 + x T ( k ) Px( k ))
a
ln(1 + c) < c c > 0 ln(a) ln(b) = ln( ) a > 0, b > 0 (18) 1
b

V1 ( x( k )) (1 + x T ( k ) Px( k )) 1[ x T ( k )( R + ( H T B T PBE (2 K + ( E T B T PBE ) 1 E T B T PA) +

K T E T B T PB( E + EK + H ) K ) x( k ) 2vnT ( k )vn ( k )]
(1 + x T ( k ) Px( k )) 1[ x T ( k )( R + K T ( k ) E T B T PB( E + EK + H ) ( k ) K ) x( k )]

(23)

(1 + x T ( k ) Px( k )) 1 x T ( k ) x(k )

Riccati (13) P = P T I

Scientific Journal of Control Engineering

x T (k ) x(k )
1 (20)
1 + x T (k ) Px(k )
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V2 ( K ( k )) = tr[ K T ( k + 1)W 1 K ( k + 1)] tr[ K T ( k )W 1 K ( k )]

T

WK ( k ) x( k ) x T ( k ) 1
WK ( k ) x( k ) x T ( k )

tr K T ( k )W 1 K ( k )
= tr K ( k )

W
K
k
(
)

1 + x T ( k ) Px( k )
1 + x T ( k ) Px( k )

= tr K T ( k )W 1 K ( k ) + (1 + x T ( k ) Px( k )) 2 tr x( k ) x T ( k ) K T ( k )WK ( k ) x( k ) x T ( k )

] [

2(1 + x ( k ) Px( k )) tr K ( k ) K ( k ) x( k ) x ( k ) tr K (k )W K (k )
T

(24)

(1 + x (k ) Px(k )) ( x (k ) K (k )(2 I W ) K (k ) x(k ))

T

x(k ) R n Lyapunov (22)

V ( x(k ), K (k )) = V1 ( x(k )) + V2 ( K (k )) < 0 .

1 (15)(11)
1 EH
.
. 1
[14, 19] E = H = 1
M 1 (k ), M 2 (k ) 1 [14, 19] 2.1.[14, 19]

0.4
1
0
x(k + 1) = Ax(k ) + Bu (k ) , A =
B = , A

1.06 0.25
0.2

1.3764 -0.1264 T=1s 1

(15) x(0) = [1,2]T K (0) = [0,0]T W = 0.2 M 1 (k ) = 1,
M 2 (k ) = 1 + 3 1.2 i , i N 0 E = 1 1 H 1
H = 2 . 3

10 15

2
0

-2

-4
0

10

20

30

40

50

10

20 (k)30

40

50

-2
0

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1973-
1998 2007
2011 Email
ywfeng@yeah.net

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