Controllability Gramian spectra of random networks

We propose a theoretical framework to study the eigenvalue spectra of the controllability Gramian of systems with random state matrices, such as networked systems with a random graph structure. Using random matrix theory, we provide expressions for the moments of the eigenvalue distribution of the controllability Gramian. These moments can then be used to derive useful properties of the eigenvalue distribution of the Gramian (in some cases, even closed-form expressions for the distribution). We illustrate this framework by considering system matrices derived from common random graph and matrix ensembles, such as the Wigner ensemble, the Gaussian Orthogonal Ensemble (GOE), and random regular graphs. Subsequently, we illustrate how the eigenvalue distribution of the Gramian can be used to draw conclusions about the energy required to control random system

Decomposition of Nonlinear Dynamical Systems Using Koopman Gramians

In this paper we propose a new Koopman operator approach to the decomposition of nonlinear dynamical systems using Koopman Gramians. We introduce the notion of an input-Koopman operator, and show how input-Koopman operators can be used to cast a nonlinear system into the classical state-space form, and identify conditions under which input and state observable functions are well separated. We then extend an existing method of dynamic mode decomposition for learning Koopman operators from data known as deep dynamic mode decomposition to systems with controls or disturbances. We illustrate the accuracy of the method in learning an input-state separable Koopman operator for an example system, even when the underlying system exhibits mixed state-input terms. We next introduce a nonlinear decomposition algorithm, based on Koopman Gramians, that maximizes internal subsystem observability and disturbance rejection from unwanted noise from other subsystems. We derive a relaxation based on Koopman Gramians and multi-way partitioning for the resulting NP-hard decomposition problem. We lastly illustrate the proposed algorithm with the swing dynamics for an IEEE 39-bus system.Comment: 8 pages, submitted to IEEE 2018 AC

Information-based Analysis and Control of Recurrent Linear Networks and Recurrent Networks with Sigmoidal Nonlinearities

Linear dynamical models have served as an analytically tractable approximation for a variety of natural and engineered systems. Recently, such models have been used to describe high-level diffusive interactions in the activation of complex networks, including those in the brain. In this regard, classical tools from control theory, including controllability analysis, have been used to assay the extent to which such networks might respond to their afferent inputs. However, for natural systems such as brain networks, it is not clear whether advantageous control properties necessarily correspond to useful functionality. That is, are systems that are highly controllable (according to certain metrics) also ones that are suited to computational goals such as representing, preserving and categorizing stimuli? This dissertation will introduce analysis methods that link the systems-theoretic properties of linear systems with informational measures that describe these functional characterizations. First, we assess sensitivity of a linear system to input orientation and novelty by deriving a measure of how networks translate input orientation differences into readable state trajectories. Next, we explore the implications of this novelty-sensitivity for endpoint-based input discrimination, wherein stimuli are decoded in terms of their induced representation in the state space. We develop a theoretical framework for the exploration of how networks utilize excess input energy to enhance orientation sensitivity (and thus enhanced discrimination ability). Next, we conduct a theoretical study to reveal how the background or default state of a network with linear dynamics allows it to best promote discrimination over a continuum of stimuli. Specifically, we derive a measure, based on the classical notion of a Fisher discriminant, quantifying the extent to which the state of a network encodes information about its afferent inputs. This measure provides an information value quantifying the knowablility of an input based on its projection onto the background state. We subsequently optimize this background state, and characterize both the optimal background and the inputs giving it rise. Finally, we extend this information-based network analysis to include networks with nonlinear dynamics--specifically, ones involving sigmoidal saturating functions. We employ a quasilinear approximation technique, novel here in terms of its multidimensionality and specific application, to approximate the nonlinear dynamics by scaling a corresponding linear system and biasing by an offset term. A Fisher information-based metric is derived for the quasilinear system, with analytical and numerical results showing that Fisher information is better for the quasilinear (hence sigmoidal) system than for an unconstrained linear system. Interestingly, this relation reverses when the noise is placed outside the sigmoid in the model, supporting conclusions extant in the literature that the relative alignment of the state and noise covariance is predictive of Fisher information. We show that there exists a clear trade-off between informational advantage, as conferred by the presence of sigmoidal nonlinearities, and speed of dynamics

Spectral Representations of Graphons in Very Large Network Systems Control

Graphon-based control has recently been proposed and developed to solve control problems for dynamical systems on networks which are very large or growing without bound (see Gao and Caines, CDC 2017, CDC 2018). In this paper, spectral representations, eigenfunctions and approximations of graphons, and their applications to graphon-based control are studied. First, spectral properties of graphons are presented and then approximations based on Fourier approximated eigenfunctions are analyzed. Within this framework, two classes of graphons with simple spectral representations are given. Applications to graphon-based control analysis are next presented; in particular, the controllability of systems distributed over very large networks is expressed in terms of the properties of the corresponding graphon dynamical systems. Moreover, spectral analysis based upon real-world network data is presented, which demonstrates that low-dimensional spectral approximations of networks are possible. Finally, an initial, exploratory investigation of the utility of the spectral analysis methodology in graphon systems control to study the control of epidemic spread is presented.Comment: 8 pages, 58th IEEE Conference on Decision and Control (CDC 2019