34A09 Implicit equations, differential-algebraic equations [See also 65L80]
A survey of methods from numerical linear algebra for linear constant coefficient differential-algebraic equations (DAEs) and descriptor control systems is presented. We discuss numerical methods to check the solvability properties of DAEs as well as index reduction and regularization techniques. For descriptor systems we discuss controllability and observability properties and how these can be checked numerically. These methods are based on staircase forms and derivative arrays, transformed with real orthogonal transformations that are discussed in detail. Then we use the reformulated problems in several control applications for differential-algebraic equations ranging from regular and singular linear-quadratic optimal and robust control to dissipativity checking. We discuss these applications and give a systematic overview over the theory and the numerical solution methods. In particular, we show that all these applications can be treated with a common approach that is based on the computation of eigenvalues and deflating subspaces of even matrix pencils. The unified approach allows to generalize and improve several techniques that are currently in use in systems and control.
We consider linear differential-algebraic m-input m-output systems with positive
strict relative degree or proper inverse transfer function; in the single-input single-output case these
two disjoint classes make the whole of all linear DAEs without feedthrough term. Structural properties
- such as normal forms (i.e. the counterpart to the Byrnes-Isidori form for ODE systems), zero
dynamics, and high-gain stabilizability - are analyzed for two purposes: first, to gain insight into the
system classes and secondly, to solve the output regulation problem by funnel control. The funnel
controller achieves tracking of a class of reference signals within a pre-specified funnel; this means in
particular, the transient behaviour of the output error can be specified and the funnel controller does
neither incorporate any internal model for the reference signals nor any identification mechanism, it
is simple in its design. The results are illuminated by position and velocity control of a mechanical
system encompassing springs, masses, and dampers.
In this paper a general form of the infinite-horizon linear quadratic control problem is considered. We will discuss quadratic cost functionals which involve not only the state and input-variables but also derivatives of the state and input-variables of arbitrary order under constraints given by linear systems of higher order. We will examine two results that relate the linear quadratic control problem to an optimality system, which is given through a para-Hermitian matrix polynomial. The results can be applied to general rectangular descriptor systems (see Subsection 6.1) to obtain results which so far were only known for quadratic descriptor systems. Also we will see that the notion of dissipativity (when introduced in the proper way) is equivalent to the solvability of the linear quadratic control problem.
The behavior approach and the problem of dissipativity have both been introduced and studied extensively by Willems et al. However, a computationally feasible method to check dissipativity is missing. Current methods will mostly rely on symbolic representations of rational functions. We will discuss a new characterization for linear systems in behavior form that allows to check dissipativity via the solution of a para-Hermitian, polynomial eigenvalue problem. Thus, we can employ standard methods of cubic complexity.
We discuss the solution of linear second order differential-algebraic equations with variable coefficients.
Since index reduction and order reduction for higher order higher index differential-algebraic systems do not commute, appropriate index reduction methods for higher order DAEs are required.
We present an index reduction method based on derivative arrays that allows to determine
an equivalent second order system of lower index in a numerical computable way.
For such an equivalent second order system
an appropriate order reduction method allows to formulate a suitable first order DAE system of low index
that has the same solution components as the original second order system.
We consider hybrid systems of differential-algebraic equations and present
a general framework for general nonlinear over- and underdetermined hybrid
systems that allows the
analysis of existence and uniqueness and the application of index reduction
methods for hybrid differential-algebraic systems.
A particular difficulty in the numerical simulation of hybrid systems is
(numerical) chattering, i.e., fast oscillations between modes of operations.
A regularization technique using sliding modes allows to regularize the
system behavior in the case of chattering.
Further, we show how chattering behavior during the numerical solution can
be prevented using sliding mode simulation. The advantage of the sliding mode
simulation is illustrated by numerical examples.
We propose a model reduction method for positive systems that ensures the positivity of the reduced-order model. In the standard as well as in the descriptor case, for continuous-time and discrete-time systems, our approach is based on constructing diagonal solutions of Lyapunov inequalities. These are linear matrix inequalities (LMIs), which are shown to be feasible. Positivity and stability are preserved and an error bound in the $\mathcal{H}_\infty$-norm is provided.
The perturbation and ADAE index of a degenerated hyperbolic system modelling a heat exchanger
(2007)
The heat exchanger in a heat pump can be modelled by the zero Mach-number limit of the Euler equations of compressible fluid flow. This system turns out to be a coupled hyperbolic/parabolic equation with coupled, time-dependent boundary conditions. Using the theory of abstract differential-algebraic equations it is shown that the frozen coefficient system has ADAE index 1. Moreover, the much stronger result is proven that the system has time-perturbation index one and space-perturbation index two even in the case of time-dependent boundary conditions. The results are stated in terms of the original physical variables. The estimates agree well with numerical experiments.
Consistent Initialization and Perturbation Analysis for Abstract Differential-Algebraic Equations
(2006)
In this paper we consider linear and time-invariant
differential-algebraic equations (DAEs) $E\dot{x}(t)=Ax(t)+f(t)$,
$x(0)=x_0$, where $x(\cdot)$ and $f(\cdot)$ are functions with
values in separable Hilbert spaces $X$ and $Z$. $E:X\To Z$ is
assumed to be a bounded operator, whereas $A$ is closed and defined
on some dense subspace $D(A)$ which is in general a proper subset of
$X$. Based on a decoupling of the algebraic and the differential
part, the set of initial values being consistent with the given
inhomogeneity will be parameterized. As a consequence of these results, we
will derive estimates for the trajectory $x(\cdot)$ in dependence of the initial
state $x_0$ and the inhomogeneity $f(\cdot)$. In the theory of
differential-algebraic equations, this is commonly known as
perturbation analysis.