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Texts in Applied Mathematics 6
Springer Science+ Business Media, LLC
Editors J.E. Marsden
L. Sirovich M. Golubitsky
W.Jager
Advisor G. Iooss
P. Holmes
Texts in Applied Mathematics
1. Sirovich: Introduction to Applied Mathematics. 2. Wiggins: Introduction to Applied Nonlinear Dynamical Systems and Chaos. 3. Hale/Kor;ak: Dynamics and Bifurcations. 4. Chorin/Marsden: A Mathematical Introduction to Fluid Mechanics, 3rd ed. 5. Hubbard/West: Differential Equations: A Dynamical Systems Approach:
Ordinary Differential Equations. 6. Sontag: Mathematical Control Theory: Deterministic Finite Dimensional
Systems, 2nd ed. 7. Perko: Differential Equations and Dynamical Systems, 2nd ed. 8. Seaborn: Hypergeometric Functions and Their Applications. 9. Pipkin: A Course on Integral Equations.
10. Hoppensteadt/Peskin:Mathematics in Medicine and the Life Sciences. 11. Braun: Differential Equations and Their Applications, 4th ed. 12. Stoer/Bulirsch: Introduction to Numerical Analysis, 2nd ed. 13. Renardy/Rogers: A First Graduate Course in Partial Differential Equations. 14. Banks: Growth and Diffusion Phenomena: Mathematical Frameworks and
Applications. 15. Brenner/Scott: The Mathematical Theory of Finite Element Methods. 16. Van de Velde: Concurrent Scientific Computing. 17. Marsden/Ratiu: Introduction to Mechanics and Symmetry. 18. Hubbard/West: Differential Equations: A Dynamical Systems Approach:
Higher-Dimensional Systems. 19. Kaplan/Glass: Understanding Nonlinear Dynamics. 20. Holmes: Introduction to Perturbation Methods. 21. Curtain/Zwart: An Introduction to Infinite-Dimensional Linear Systems
Theory. 22. Thomas: Numerical Partial Differential Equations: Finite Difference
Methods. 23. Taylor: Partial Differential Equations: Basic Theory. 24. Merkin: Introduction to the Theory of Stability. 25. Naber: Topology, Geometry, and Gauge Fields: Foundations. 26. Po/derman/Willems: Introduction to Mathematical Systems Theory:
A Behavioral Approach. 27. Reddy: Introductory Functional Analysis: with Applications to Boundary
Value Problems and Finite Elements. 28. Gustafson/Wilcox: Analytical and Computational Methods of Advanced
Engineering Mathematics. 29. Tveito/Winther: Introduction to Partial Differential Equations: A
Computational Approach. 30. Gasquet/Witomski: Fourier Analysis and Applications: Filtering, Numerical
Computation, Wavelet. 31. Bremaud: Markov Chains: Gibbs Fields and Monte Carlo. 32. Durran: Numerical Methods for Wave Equations in Geophysical Fluid Dynamics.
Eduardo D. Sontag
Mathematical Control Theory
Deterministic Finite Dimensional Systems
Second Edition
With 26 Illustrations
Springer
Eduardo D. Sontag Department of Mathematics Rutgers University New Brunswick, NJ 08903 USA
Series Editors
J.E. Marsden L. Sirovich Control and Dynamical Systems 107-81 California Institute of Technology Pasadena, CA 91125
Division of Applied Mathematics Brown University Providence, RI 02912
USA USA
M. Golubitsky W.Jager Department of Mathematics University of Houston Houston, TX 77204-3476 USA
Department of Applied Mathematics Universitat Heidelberg Im Neuenheimer Feld 294 69120 Heidelberg Germany
Mathematics Subject Classification ( 1991) : 93xx, 68Dxx, 49Exx, 34Dxx
Library of Congress Cataloging-in-Publication Data Sontag, Eduardo D.
Mathematical control theory : deterministic finite dimensional systems I Eduardo D. Sontag. - 2nd ed.
p. em. - (Texts in applied mathematics ; 6) Includes bibliographical references and index. ISBN 978-1-4612-6825-3 1. Control theory. 2. System analysis. I. Title. II. Series.
QA402.3.S683 1998 515'.64-dc21 98-13182
Printed on acid-free paper.
© 1998 Springer Science+ Business Media New York Originally published by Springer-Verlag New York Inc. in 1998 Softcover reprint of the hardcover 2nd edition 1998
All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+ Business Media, LLC), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use of general descriptive names, trade names, trademarks, etc., in this publication, even if the former are not especially identified, is not to be taken as a sign that such names, as understood by the Trade Marks and Merchandise Marks Act, may accordingly be used freely by anyone.
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ISBN 978-1-4612-6825-3 ISBN 978-1-4612-0577-7 (eBook) SPIN 10670158 DOI 10.1007/978-1-4612-0577-7
Series Preface
Mathematics is playing an ever more important role in the physical and biological sciences, provoking a blurring of boundaries between scientific disciplines and a resurgence of interest in the modern as well as the classical techniques of applied mathematics. This renewal of interest, both in research and teaching, has led to the establishment of the series Texts in Applied Mathematics (TAM).
The development of new courses is a natural consequence of a high level of excitement on the research frontier as newer techniques, such as numerical and symbolic computer systems, dynamical systems, and chaos, mix with and reinforce the traditional methods of applied mathematics. Thus, the purpose of this textbook series is to meet the current and future needs of these advances and to encourage the teaching of new courses.
TAM will publish textbooks suitable for use in advanced undergraduate and beginning graduate courses, and will complement the Applied Mathematics Sciences (AMS) series, which will focus on advanced textbooks and research-level monographs.
v
Preface to the Second Edition
The most significant differences between this edition and the first are as follows:
• Additional chapters and sections have been written, dealing with:
nonlinear controllability via Lie-algebraic methods,
variational and numerical approaches to nonlinear control, including a brief introduction to the Calculus of Variations and the Minimum Principle,
- time-optimal control of linear systems,
feedback linearization (single-input case),
nonlinear optimal feedback,
controllability of recurrent nets, and
controllability of linear systems with bounded controls.
• The discussion on nonlinear stabilization has been expanded, introducing the basic ideas of control-Lyapunov functions, backstepping, and damping control.
• The chapter on dynamic programming and linear-quadratic problems has been substantially edited, so that the material on linear systems can be read in a fully independent manner from the nonlinear preliminaries.
• A fairly large number of errors and typos have been corrected.
• A list of symbols has been added.
I would like to strongly encourage readers to send me suggestions and comments by e-mail ([email protected]), and also to visit the following Web site:
http:/ /www.math.rutgers.eduF sontag/
vii
viii Preface to the Second Edition
where I expect to post updates, additional material and references, links, and errata.
The current contents of the text far exceed what can be done in a year, if all material is covered and complete proofs are given in lectures. However, there are several ways to structure a year-long course, or two such courses, based on parts of the book. For example, one may cover only the linear theory, skipping the optional sections as well as the chapters on nonlinear controllability and multiplier (variational) methods. A separate course, fairly independent, could cover the more advanced nonlinear material. Ultimately, the topics should reflect student and faculty background and interests, and I'll be happy to discuss syllabi with potential instructors.
I wish to thank all those colleagues, students, and readers who have sent me suggestions and comments, including in particular Brian Ingalls, Gerardo Lafferriere, Michael Malisoff, and Konrad Reif. A most special acknowledgment goes to Jose Luis Mancilla Aguilar and Sarah Koskie, who pointed out a very large number of typos and errors, and proposed appropriate corrections. Of course, many mistakes surely remain, and I am solely responsible for them. I also reiterate my acknowledgment and thanks for the continued support from the Air Force Office of Scientific Research, and to my family for their infinite patience.
Piscataway, N J May, 1998.
Eduardo D. Sontag
Preface to the First Edition
This textbook introduces the basic concepts and results of mathematical control and system theory. Based on courses that I have taught during the last 15 years, it presents its subject in a self-contained and elementary fashion. It is geared primarily to an audience consisting of mathematically mature advanced undergraduate or beginning graduate students. In addition, it can be used by engineering students interested in a rigorous, proof-oriented systems course that goes beyond the classical frequency-domain material and more applied courses.
The minimal mathematical background that is required of the reader is a working knowledge of linear algebra and differential equations. Elements of the theory of functions of a real variable, as well as elementary notions from other areas of mathematics, are used at various points and are reviewed in the appendixes. However, the book was written in such a manner that readers not comfortable with these techniques should still be able to understand all concepts and to follow most arguments, at the cost of skipping a few technical details and making some simplifying assumptions in a few places -such as dealing only with piecewise continuous functions where arbitrary measurable functions are allowed. In this dual mode, I have used the book in courses at Rutgers University with mixed audiences consisting of mathematics, computer science, electrical engineering, and mechanical and aerospace engineering students. Depending on the detail covered in class, it can be used for a one-, two-, or three-semester course. By omitting the chapter on optimal control and the proofs of the results in the appendixes, a one-year course can be structured with no difficulty.
The book covers what constitutes the common core of control theory: The algebraic theory of linear systems, including controllability, observability, feedback equivalence, and minimality; stability via Lyapunov, as well as input/output methods; ideas of optimal control; observers and dynamic feedback; parameterization of stabilizing controllers (in the scalar case only); and some very basic facts about frequency domain such as the Nyquist criterion. Kalman filtering is introduced briefly through a deterministic version of "optimal observation;" this avoids having to develop the theory of stochastic processes and represents a natural application of optimal control and observer techniques. In general, no stochastic or infinite dimensional results are covered, nor is a detailed treatment given of nonlinear differential-geometric control; for these more advanced areas, there are many suitable texts.
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X Preface to the First Edition
The introductory chapter describes the main contents of the book in an intuitive and informal manner, and the reader would be well advised to read this in detail. I suggest spending at least a week of the course covering this material. Sections marked with asterisks can be left out without loss of continuity. I have only omitted the proofs of what are labeled "Lemma/Exercises," with the intention that these proofs must be worked out by the reader in detail. Typically, Lemma/Exercises ask the reader to prove that some elementary property holds, or to prove a difference equation analogue of a differential equation result just shown. Only a trivial to moderate effort is required, but filling in the details forces one to read the definitions and proofs carefully. "Exercises" are for the most part also quite simple; those that are harder are marked with the symbol 0.
Control and system theory shares with some other areas of "modern" applied mathematics (such as quantum field theory, geometric mechanics, and computational complexity), the characteristic of employing a broad range of mathematical tools, providing many challenges and possibilities for interactions with established areas of "pure" mathematics. Papers often use techniques from algebraic and differential geometry, functional analysis, Lie algebras, combinatorics, and other areas, in addition to tools from complex variables, linear algebra, and ordinary and partial differential equations. While staying within the bounds of an introductory presentation, I have tried to provide pointers toward some of these exciting directions of research, particularly through the remarks at the ends of chapters and through references to the literature. (At a couple of points I include further details, such as when I discuss Lie group actions and families of systems, or degree theory and nonlinear stabilization, or ideal theory and finite-experiment observability, but these are restricted to small sections that can be skipped with no loss of continuity.)
This book should be useful too as a research reference source, since I have included complete proofs of various technical results often used in papers but for which precise citations are hard to find. I have also compiled a rather long bibliography covering extensions of the results given and other areas not treated, as well as a detailed index facilitating access to these.
Although there are hundreds of books dealing with various aspects of control and system theory, including several extremely good ones, this text is unique in its emphasis on foundational aspects. I know of no other book that, while covering the range of topics treated here and written in a standard theorem/proof style, also develops the necessary techniques from scratch and does not assume any background other than basic mathematics. In fact, much effort was spent trying to find consistent notations and terminology across these various areas. On the other hand, this book does not provide realistic engineering examples, as there are already many books that do this well. (The bibliography is preceded by a discussion of such other texts.)
I made an effort to highlight the distinctions as well as the similarities between continuous- and discrete-time systems, and the process (sampling) that is used in practice for computer control. In this connection, I find it highly
Preface to the First Edition xi
probable that future developments in control theory will continue the movement toward a more "computer-oriented" and "digital/logical" view of systems, as opposed to the more classical continuous-time smooth paradigm motivated by analogue devices. Because of this, it is imperative that a certain minimal amount of the 'abstract nonsense' of systems (abstract definitions of systems as actions over general time sets, and so forth) be covered: It is impossible to pose, much less solve, systems design problems unless one first understands what a system is. This is analogous to understanding the definition of function as a set of ordered pairs, instead of just thinking of functions as only those that can be expressed by explicit formulas.
A few words about notation and numbering conventions. Except for theorems, which are numbered consecutively, all other environments (lemmas, definitions, and so forth) are numbered by section, while equations are numbered by chapter. In formal statements, I use roman characters such as x to denote states at a given instant, reserving Greek letters such as ~ for state trajectories, and a similar convention is used for control values versus control functions, and output values versus output functions; however, in informal discussions and examples, I use roman notation for both points and functions, the meaning being clear from the context. The symbol I marks an end of proof, while D indicates the end of a remark, example, etc., as well as the end of a statement whose proof has been given earlier.
This volume represents one attempt to address two concerns raised in the report "Future Directions in Control Theory: A Mathematical Perspective," which was prepared by an international panel under the auspices of various American funding agencies (National Science Foundation, Air Force Office of Scientific Research, Army Research Office, and Office of Naval Research) and was published in 1988 by the Society for Industrial and Applied Mathematics. Two of the main recommendations of the report were that further efforts be made to achieve conceptual unity in the field, as well as to develop better training for students and faculty in mathematics departments interested in being exposed to the area. Hopefully, this book will be useful in helping achieve these goals.
It is hard to even begin to acknowledge all those who influenced me professionally and from whom I learned so much, starting with Enzo Gentile and other faculty at the Mathematics Department of the University of Buenos Aires. Without doubt, my years at the Center for Mathematical System Theory as a student of Rudolf Kalman were the central part of my education, and the stimulating environment of the center was unequaled in its possibilities for learning. To Professor Kalman and his long-range view of the area, originality of thought, and emphasis on critical thinking, I will always owe major gratitude. Others who spent considerable time at the Center, and from whose knowledge I also benefited immensely at that time and ever since, include Roger Brockett, Samuel Eilenberg, Michel Fliess, Malo Hautus, Michiel Hazewinkel, Hank Hermes, Michel Heymann, Bruce Lee, Alberto Isidori, Ed Kamen, Sanjoy Mitter, Yves Rouchaleau, Yutaka Yamamoto, Jan Willems, and Bostwick Wyman. In
xii Preface to the First Edition
latter years I learned much from many people, but I am especially indebted to my Rutgers colleague Hector Sussmann, who introduced me to the continuoustime nonlinear theory. While writing this book, I received constant and very useful feedback from graduate students at Rutgers, including Francesca Albertini, Yuandan Lin, Wen-Sheng Liu, Guoqing Tang, Yuan Wang, and Yudi Yang. I wish to especially thank Renee Schwarzschild, who continuously provided me with extensive lists of misprints, errors, and comments. Both Pramod Khargonekar and Jack Rugh also gave me useful suggestions at various points.
The continued and generous research support that the Air Force Office of Scientific Research provided to me during most of my career was instrumental in my having the possibility of really understanding much of the material treated in this book as well as related areas. I wish to express my sincere gratitude for AFOSR support of such basic research.
Finally, my special thanks go to my wife Fran and to my children Laura and David, for their patience and understanding during the long time that this project took.
Piscataway, NJ June, 1990.
Eduardo D. Sontag
Contents
Series Preface
Preface to the Second Edition
Preface to the First Edition
1 Introduction 1.1 What Is Mathematical Control Theory? 1.2 Proportional-Derivative Control ... . 1.3 Digital Control ............ . 1.4 Feedback Versus Precomputed Control 1.5 State-Space and Spectrum Assignment 1.6 Outputs and Dynamic Feedback 1. 7 Dealing with Nonlinearity . . . 1.8 A Brief Historical Background . 1.9 Some Topics Not Covered
2 Systems 2.1 Basic Definitions 2.2 1/0 Behaviors .. 2.3 Discrete-Time . . 2.4 Linear Discrete-Time Systems . 2.5 Smooth Discrete-Time Systems 2.6 Continuous-Time . . . . . . . . 2. 7 Linear Continuous-Time Systems 2.8 Linearizations Compute Differentials 2.9 More on Differentiability* 2.10 Sampling ...... . 2.11 Volterra Expansions* . 2.12 Notes and Comments.
*Can be skipped with no loss of continuity.
xiii
v
vii
ix
1 1 2 6 9
11 16 20 22 23
25 25 30 32 36 39 41 46 53 64 72 73 76
xiv Contents
3 Reachability and Controllability 81 3.1 Basic Reachability Notions .. 81 3.2 Time-Invariant Systems .... 84 3.3 Controllable Pairs of Matrices . 92 3.4 Controllability Under Sampling 99 3.5 More on Linear Controllability 104 3.6 Bounded Controls* ....... 117 3.7 First-Order Local Controllability 122 3.8 Controllability of Recurrent Nets* 128 3.9 Piecewise Constant Controls . 136 3.10 Notes and Comments .. ...... 137
4 Nonlinear Controllability 141 4.1 Lie Brackets . . . . . . . 141 4.2 Lie Algebras and Flows 147 4.3 Accessibility Rank Condition 154 4.4 Ad, Distributions, and Frobenius' Theorem 164 4.5 Necessity of Accessibility Rank Condition 177 4.6 Additional Problems . 179 4.7 Notes and Comments ... 181
5 Feedback and Stabilization 183 5.1 Constant Linear Feedback 183 5.2 Feedback Equivalence* . . 189 5.3 Feedback Linearization* 197 5.4 Disturbance Rejection and Invariance* 207 5.5 Stability and Other Asymptotic Notions 211 5.6 Unstable and Stable Modes* 0 0 0 •• 0 215 5.7 Lyapunov and Control-Lyapunov Functions 218 5.8 Linearization Principle for Stability . . . 233 5.9 Introduction to Nonlinear Stabilization* 239 5.10 Notes and Comments . • • • • • • • 0 •• 256
6 Outputs 261 6.1 Basic Observability Notions 261 6.2 Time-Invariant Systems .. 268 6.3 Continuous-Time Linear Systems 276 6.4 Linearization Principle for Observability 280 6.5 Realization Theory for Linear Systems 283 6.6 Recursion and Partial Realization . 290 6.7 Rationality and Realizability 297 6.8 Abstract Realization Theory* . 303 6.9 Notes and Comments ...... 310
*Can be skipped with no loss of continuity.
Contents
7 Observers and Dynamic Feedback 7.1 Observers and Detectability ... . 7.2 Dynamic Feedback ........ . 7.3 External Stability for Linear Systems . 7.4 Frequency-Domain Considerations 7.5 Parametrization of Stabilizers 7.6 Notes and Comments ....
8 Optimality: Value Function 8.1 Dynamic Programming* ...... . 8.2 Linear Systems with Quadratic Cost 8.3 Tracking and Kalman Filtering* 8.4 Infinite-Time (Steady-State) Problem 8.5 Nonlinear Stabilizing Optimal Controls. 8.6 Notes and Comments .......... .
9 Optimality: Multipliers 9.1 Review of Smooth Dependence ..... . 9.2 Unconstrained Controls ......... . 9.3 Excursion into the Calculus of Variations 9.4 Gradient-Based Numerical Methods ... 9.5 Constrained Controls: Minimum Principle 9.6 Notes and Comments ........... .
10 Optimality: Minimum-Time for Linear Systems 10.1 Existence Results ............. . 10.2 Maximum Principle for Time-Optimality . 10.3 Applications of the Maximum Principle 10.4 Remarks on the Maximum Principle 10.5 Additional Exercises . 10.6 Notes and Comments.
APPENDIXES
A Linear Algebra A.1 Operator Norms ••••• 0 •••••
A.2 Singular Values . •••••• 0 ••••
A.3 Jordan Forms and Matrix Functions A.4 Continuity of Eigenvalues ......
B Differentials B.1 Finite Dimensional Mappings B.2 Maps Between Normed Spaces
*Can be skipped with no loss of continuity.
XV
315 315 321 326 331 337 344
347 349 363 371 380 390 394
397 397 399 409 415 418 421
423 424 431 436 443 444 446
447 447 448 452 456
461 461 463
xvi
C Ordinary Differential Equations C.l Review of Lebesgue Measure Theory C.2 Initial-Value Problems . . . . . . . . C.3 Existence and Uniqueness Theorem. C.4 Linear Differential Equations C.5 Stability of Linear Equations
Bibliography
List of Symbols
Index
Contents
467 467 473 474 487 491
493
519
523
