Abstract
For linear time-varying singularly perturbed systems (LTVSPS) with quasidifferentiable coefficients and a small parameter multiplying some derivatives, the problem of uniform observability is considered. Necessary and sufficient conditions for the quasidifferentiability of the set of output functions independent of the small parameter are proved, observability matrices independent of the small parameter for the slow subsystem and the family of fast subsystems associated with the LTVSPS are constructed, and a connection is established between them and the observability matrix of the original system. On the basis of the complete decomposition of the original LTVSPS with respect to the action of the group of linear nonsingular transformations, we prove rank sufficient conditions for the uniform observability of the LTVSPS that are independent of the small parameter and valid for all sufficiently small values of it. The conditions are expressed in terms of the observability matrices of the slow subsystem and the family of fast subsystems of smaller dimensions than the original LTVSPS.
REFERENCES
Kalman, R., On the general theory of control systems, in Tr. I kongressa IFAK. T. 2 (Proc. I IFAC Congr. Vol. 2), Moscow: Akad. Nauk SSSR, 1961, pp. 521–547.
Kalman, R.E., Falb, P.L., and Arbib, M.A., Topics in Mathematical System Theory, New York–San Francisco–St. Louis–Toronto–London–Sydney: McGraw-Hill, 1969. Translated under the title: Ocherki po matematicheskoi teorii sistem, Moscow: Mir, 1971.
Krasovskii, N.H., Teoriya upravleniya dvizheniem (Motion Control Theory), Moscow: Nauka, 1968.
Gaishun, I.V., Vvedenie v teoriyu lineinykh nestatsionarnykh sistem (Introduction to the Theory of Linear Time-Varying Systems), Minsk: Inst. Mat. NAN Belarusi, 1999.
Astrovskii, A.I., Nablyudaemost’ lineinykh nestatsionarnykh sistem (Observability of Linear Time-Varying systems), Minsk: Izd. MIU, 2007.
Astrovskii, A.I. and Gaishun, I.V., State estimation for linear time-varying observation systems, Differ. Equations, 2019, vol. 55, no. 3, pp. 363–373.
Astrovskii, A.I. and Gaishun, I.V., Observability of linear time-varying systems with quasiderivative coefficients, SIAM J. Control Optim., 2019, vol. 57, no. 3, pp. 1710–1729.
Astrovskii, A.I. and Gaishun, I.V., Lineinye sistemy s kvazidifferentsiruemymi koeffitsientami: upravlyaemost’ i nablyudaemost’ dvizhenii (Linear Systems with Quasidifferentiable Coefficients: Controllability and Observability of Motions), Minsk: Belarus. Navuka, 2013.
Astrovskii, A.I. and Gaishun, I.V., Quasidifferentiability and observability of linear nonstationary systems, Differ. Equations, 2009, vol. 45, no. 11, pp. 1602–1611.
Astrovskii, A.I. and Gaishun, I.V., Uniform and approximate observability of linear time-varying systems, Autom. Remote Control, 1998, vol. 59, no. 7, pp. 907–915.
Derr, V.Ya., Nonoscillation of solutions of a linear quasidifferential equation, Izv. Inst. Mat. Inf. Udmurtsk. Gos. Univ., 1999, no. 1 (16), pp. 3–105.
Vasil’eva, A.B. and Dmitriev, M.G., Singular perturbations in optimal control problems, J. Sov. Math., 1986, vol. 34, no. 3, pp. 1579–1629.
Kalinin, A.I., Asimptoticheskie metody optimizatsii vozmushchennykh dinamicheskikh sistem (Asymptotic Methods for Optimizing Perturbed Dynamical Systems), Minsk: BGU, 2000.
Kokotović, P.V., Khalil, H.K., and O’Reilly, J., Singular Perturbations Methods in Control: Analysis and Design, New York–London: Academic Press, 1999.
O’Reilly, J., Full-order observers for a class of singularly perturbed linear time-varying systems, Int. J. Control, 1979, vol. 30, no. 5, pp. 745–756.
Kopeikina, T.B., Observability of linear time-invariant singularly perturbed systems in the state space, Prikl. Mat. Mekh., 1993, vol. 57, no. 6, pp. 22–32.
Kopeikina, T.B., Relative observability of linear time-dependent singularly perturbed systems with delay, Differ. Equations, 1998, vol. 34, no. 1, pp. 22–28.
Kopeikina, T.B. and Tsekhan, O.B., On the theory of observability of linear singularly perturbed systems, Vestsi NAN Belarusi. Ser. Fiz.-Mat. Navuk, 1999, no. 3, pp. 22–27.
Glizer, V.Y., Observability of singularly perturbed linear time-dependent differential systems with small delay, J. Dyn. Control Syst., 2004, no. 10, pp. 329–363.
Tsekhan, O.B., Conditions for complete observability of linear time-invariant singularly perturbed second-order systems with delay, Vesn. Grodnensk. Dzyarzh. Univ. im. Ya. Kupaly. Ser. 2. Mat. Fiz. Inf. Vylich. Tekh. Kiravanne, 2014, no. 1 (170), pp. 53–64.
Tsekhan, O.B., Conditions for pointwise controllability and pointwise observability of linear time-invariant singularly perturbed systems with delay, Tr. Inst. Mat. NAN Belarusi, 2021, vol. 29, no. 1–2, pp. 138–148.
Tsekhan, O. and Pawluszewicz, E., Observability of singularly perturbed linear time-varying systems on time scales, 26th Int. Conf. Methods Models Autom. Robot. (MMAR) (2022), pp. 116–121.
Dmitriev, M.G. and Kurina, G.A., Singular perturbations in control problems, Autom. Remote Control, 2006, vol. 67, no. 1, pp. 1–43.
Gaishun, I.V. and Goryachkin, V.V., Robust and interval observability of two-parameter discrete systems with interval coefficients, Vestsi NAN Belarusi. Ser. Fiz.-Mat. Navuk, 2016, no. 2, pp. 6–9.
Kopeikina, T.B., Some approaches to the controllability investigation of singularly perturbed dynamic systems, Syst. Sci., 1995, vol. 21, no. 1, pp. 17–36.
Horn, R. and Johnson, C., Matrix Analysis, Cambridge: Cambridge Univ. Press, 1985. Translated under the title: Matrichnyi analiz, Moscow: Mir, 1989.
Tikhonov, A.N., Systems of differential equations containing small parameters multiplying derivatives, Mat. Sb., 1952, vol. 31 (73), no. 3, pp. 575–586.
Chang, K., Singular perturbations of a general boundary value problem, SIAM J. Math. Anal., 1972, vol. 3, no. 3, pp. 520–526.
Zuber, I.E., Synthesis of an exponentially stable observer for linear time-varying systems with one output, Autom. Remote Control, 1995, vol. 56, no. 5, pp. 644–650.
ACKNOWLEDGMENTS
The author is grateful to Prof. A.I. Astrovskii for valuable advice and comments made during the preparation of this work.
Funding
The work was supported by the Ministry of Education of the Republic of Belarus, State Research Program “Convergence-2025,” project no. 1.2.04.
Author information
Authors and Affiliations
Corresponding author
Additional information
Translated by V. Potapchouck
Rights and permissions
About this article
Cite this article
Tsekhan, O.B. Quasidifferentiability and Uniform Observability of Linear Time-Varying Singularly Perturbed Systems. Diff Equat 59, 1130–1146 (2023). https://doi.org/10.1134/S0012266123080116
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1134/S0012266123080116