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98
Synchronization and linearity: an algebra for discrete event systems
, 2001
"... The first edition of this book was published in 1992 by Wiley (ISBN 0 471 93609 X). Since this book is now out of print, and to answer the request of several colleagues, the authors have decided to make it available freely on the Web, while retaining the copyright, for the benefit of the scientific ..."
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Cited by 250 (10 self)
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The first edition of this book was published in 1992 by Wiley (ISBN 0 471 93609 X). Since this book is now out of print, and to answer the request of several colleagues, the authors have decided to make it available freely on the Web, while retaining the copyright, for the benefit of the scientific community. Copyright Statement This electronic document is in PDF format. One needs Acrobat Reader (available freely for most platforms from the Adobe web site) to benefit from the full interactive machinery: using the package hyperref by Sebastian Rahtz, the table of contents and all LATEX crossreferences are automatically converted into clickable hyperlinks, bookmarks are generated automatically, etc.. So, do not hesitate to click on references to equation or section numbers, on items of thetableofcontents and of the index, etc.. One may freely use and print this document for one’s own purpose or even distribute it freely, but not commercially, provided it is distributed in its entirety and without modifications, including this preface and copyright statement. Any use of thecontents should be acknowledged according to the standard scientific practice. The
Guaranteed minimumrank solutions of linear matrix equations via nuclear norm minimization
, 2007
"... The affine rank minimization problem consists of finding a matrix of minimum rank that satisfies a given system of linear equality constraints. Such problems have appeared in the literature of a diverse set of fields including system identification and control, Euclidean embedding, and collaborative ..."
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Cited by 218 (15 self)
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The affine rank minimization problem consists of finding a matrix of minimum rank that satisfies a given system of linear equality constraints. Such problems have appeared in the literature of a diverse set of fields including system identification and control, Euclidean embedding, and collaborative filtering. Although specific instances can often be solved with specialized algorithms, the general affine rank minimization problem is NPhard, because it contains vector cardinality minimization as a special case. In this paper, we show that if a certain restricted isometry property holds for the linear transformation defining the constraints, the minimum rank solution can be recovered by solving a convex optimization problem, namely the minimization of the nuclear norm over the given affine space. We present several random ensembles of equations where the restricted isometry property holds with overwhelming probability, provided the codimension of the subspace is sufficiently large. The techniques used in our analysis have strong parallels in the compressed sensing framework. We discuss how affine rank minimization generalizes this preexisting concept and outline a dictionary relating concepts from cardinality minimization to those of rank minimization. We also discuss several algorithmic approaches to solving the norm minimization relaxations, and illustrate our results with numerical examples.
A Unified Framework for Hybrid Control: Model and Optimal Control Theory
 IEEE TRANSACTIONS ON AUTOMATIC CONTROL
, 1998
"... Complex natural and engineered systems typically possess a hierarchical structure, characterized by continuousvariable dynamics at the lowest level and logical decisionmaking at the highest. Virtually all control systems todayfrom flight control to the factory floorperform computercoded chec ..."
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Cited by 183 (8 self)
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Complex natural and engineered systems typically possess a hierarchical structure, characterized by continuousvariable dynamics at the lowest level and logical decisionmaking at the highest. Virtually all control systems todayfrom flight control to the factory floorperform computercoded checks and issue logical as well as continuousvariable control commands. The interaction of these different types of dynamics and information leads to a challenging set of "hybrid" control problems. We propose a very general framework that systematizes the notion of a hybrid system, combining differential equations and automata, governed by a hybrid controller that issues continuousvariable commands and makes logical decisions. We first identify the phenomena that arise in realworld hybrid systems. Then, we introduce a mathematical model of hybrid systems as interacting collections of dynamical systems, evolving on continuousvariable state spaces and subject to continuous controls and discrete transitions. The model captures the identified phenomena, subsumes previous models, yet retains enough structure on which to pose and solve meaningful control problems. We develop a theory for synthesizing hybrid controllers for hybrid plants in an optimal control framework. In particular, we demonstrate the existence of optimal (relaxed) and nearoptimal (precise) controls and derive "generalized quasivariational inequalities" that the associated value function satisfies. We summarize algorithms for solving these inequalities based on a generalized Bellman equation, impulse control, and linear programming.
A Survey of Computational Complexity Results in Systems and Control
, 2000
"... The purpose of this paper is twofold: (a) to provide a tutorial introduction to some key concepts from the theory of computational complexity, highlighting their relevance to systems and control theory, and (b) to survey the relatively recent research activity lying at the interface between these fi ..."
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Cited by 116 (21 self)
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The purpose of this paper is twofold: (a) to provide a tutorial introduction to some key concepts from the theory of computational complexity, highlighting their relevance to systems and control theory, and (b) to survey the relatively recent research activity lying at the interface between these fields. We begin with a brief introduction to models of computation, the concepts of undecidability, polynomial time algorithms, NPcompleteness, and the implications of intractability results. We then survey a number of problems that arise in systems and control theory, some of them classical, some of them related to current research. We discuss them from the point of view of computational complexity and also point out many open problems. In particular, we consider problems related to stability or stabilizability of linear systems with parametric uncertainty, robust control, timevarying linear systems, nonlinear and hybrid systems, and stochastic optimal control.
Observability and Controllability of Piecewise Affine and Hybrid Systems
 IEEE Transactions on Automatic Control
, 1999
"... In this pap e we prove in a constructive way, the ee ale b e we e pie a#ne syste and a broad class of hybridsyste de e d by inte line dynamics, automata, and propositional logic. By focusing our inveon the forme class, we show through countethat obse ability and controllability prope rtie cannot b ..."
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Cited by 93 (14 self)
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In this pap e we prove in a constructive way, the ee ale b e we e pie a#ne syste and a broad class of hybridsyste de e d by inte line dynamics, automata, and propositional logic. By focusing our inveon the forme class, we show through countethat obse ability and controllability prope rtie cannot be e asilydely from those of the comp tline subsyste Inste we propose practical nume te base onmixe te line programming. Keywords Hybrid syste controllability,obse ability, pie line syste pie a#ne syste mixe teline programming I. Introducti In recent yearsb oth control and computer science haveb een attractedb y hybridsystem [1], [2], [23], [25], [26],b ecause they provide a unified framework fordescribgARB( cesses evolving accordingto continuous dynamics, discrete dynamics, and logic rules. The interest is mainly motivatedb y the large variety of practical situations, for instance realtime systems, where physical processes interact with digital controllers. Several modelingformalisms h...
Ranksparsity incoherence for matrix decomposition
, 2009
"... Abstract. Suppose we are given a matrix that is formed by adding an unknown sparse matrix to an unknown lowrank matrix. Our goal is to decompose the given matrix into its sparse and lowrank components. Such a problem arises in a number of applications in model and system identification, and is int ..."
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Cited by 81 (10 self)
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Abstract. Suppose we are given a matrix that is formed by adding an unknown sparse matrix to an unknown lowrank matrix. Our goal is to decompose the given matrix into its sparse and lowrank components. Such a problem arises in a number of applications in model and system identification, and is intractable to solve in general. In this paper we consider a convex optimization formulation to splitting the specified matrix into its components, by minimizing a linear combination of the ℓ1 norm and the nuclear norm of the components. We develop a notion of ranksparsity incoherence, expressed as an uncertainty principle between the sparsity pattern of a matrix and its row and column spaces, and use it to characterize both fundamental identifiability as well as (deterministic) sufficient conditions for exact recovery. Our analysis is geometric in nature with the tangent spaces to the algebraic varieties of sparse and lowrank matrices playing a prominent role. When the sparse and lowrank matrices are drawn from certain natural random ensembles, we show that the sufficient conditions for exact recovery are satisfied with high probability. We conclude with simulation results on synthetic matrix decomposition problems.
Complexity of Stability and Controllability of Elementary Hybrid Systems
, 1997
"... this paper, weconsider simple classes of nonlinear systems and provethatbasic questions related to their stabilityandcontrollabilityare either undecidable or computationally intractable (NPhard). As a special case, weconsider a class of hybrid systems in which the state space is partitioned into tw ..."
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Cited by 34 (10 self)
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this paper, weconsider simple classes of nonlinear systems and provethatbasic questions related to their stabilityandcontrollabilityare either undecidable or computationally intractable (NPhard). As a special case, weconsider a class of hybrid systems in which the state space is partitioned into two halfspaces, and the dynamics in eachhalfspace correspond to a differentlinear system
On Finite Gain Stabilizability of Linear Systems Subject to Input Saturation
 SIAM J. Control and Optimization
, 1993
"... This paper deals with (global) finitegain input/output stabilization of linear systems with saturated controls. For neutrally stable systems, it is shown that the linear feedback law suggested by the passivity approach indeed provides stability, with respect to every L ..."
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Cited by 25 (9 self)
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This paper deals with (global) finitegain input/output stabilization of linear systems with saturated controls. For neutrally stable systems, it is shown that the linear feedback law suggested by the passivity approach indeed provides stability, with respect to every L
Deciding Stability and Mortality of Piecewise Affine Dynamical Systems
, 2001
"... In this paper we studyproblJ: such as: given a discrete timedynamical system of the form x(t +1)=f(x(t)) where f : R n #R n is a piecewise a#ne function, decide whetheral trajectories converge to 0. We show in our main theorem that this AttractivityProblc isundecidabl as soon as n2. The same is ..."
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Cited by 22 (1 self)
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In this paper we studyproblJ: such as: given a discrete timedynamical system of the form x(t +1)=f(x(t)) where f : R n #R n is a piecewise a#ne function, decide whetheral trajectories converge to 0. We show in our main theorem that this AttractivityProblc isundecidabl as soon as n2. The same is true of tworelkMI problI+J Stabil+J (is thedynamical systemglJH #RI asymptotical# stablto andMortal#M (do al trajectories go through 0?). We then show that Attractivity andStabilI: becomedecidabl in dimension 1 for continuous functions. c # 2001El1/JkR Science B.V.Al rights reserved. Keywords: Discretedynamical systems; Piecewise a#ne systems; Piecewiselecew systems; Hybrid systems;Mortal/JM Stabil/JM Decidabilk: 1.IP141 In this paper we studyproblJ+ such as: given a discrete timedynamical system of the form x(t +1)=f(x(t)) where f : R n #R n is a(possibl discontinuous) piecewise # This research waspartl carried outwhil Bllkk was visitingTsitsiklJ at MIT (Cambridge) and Koiran at ENS (Lyon). This research was supported by the ARO under grant DAAL0392G0115, by the NATO under grant CRG961115 and by the European Commission under the TMR(AlMkI;/z network contract ERBFMRXCT960074. # Corresponding author. Email addresses: blmCppCpA/J#JM:/zRkJ; (V.D.BlD./kIH Ol./kIH:J/zRkJ;/lkJ;/l (O. Bournez), pascal),/;MJMI/zRkJ;/ll (P. Koiran), christos@cs.berkel/ll (C.H. Papadimitriou), jnt@mit.edu (J.N. TsitsiklM#/ 03043975/01/$  see front matter c # 2001El1/kRk Science B.V.Al rights reserved. PII: S03043975(00)003996 688 V.D. Blondel et al. / Theoretical Computer Science 255 (2001) 687696 a#ne function, decide whetheral trajectories converge to 0. We show in our main theorem (Theorem 2) that this AttractivityProblc isundecidabl as soon as n2. The same is true of t...
On the Continuity and IncrementalGain Properties of Certain Saturated Linear Feedback Loops
 Proc. IEEE Conf. Decision and Control
, 1994
"... This paper discusses various continuity and incrementalgain properties for neutrally stable linear systems under linear feedback subject to actuator saturation. The results complement our previous ones, which applied to the same class of problems and provided finitegain stability. Keywords: satura ..."
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Cited by 19 (9 self)
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This paper discusses various continuity and incrementalgain properties for neutrally stable linear systems under linear feedback subject to actuator saturation. The results complement our previous ones, which applied to the same class of problems and provided finitegain stability. Keywords: saturatedinput linear systems, operator stability, finite incremental gain 1 Introduction