Robust stability conditions for feedback interconnections of distributed-parameter negative imaginary systems

Sufficient and necessary conditions for the stability of positive feedback interconnections of negative imaginary systems are derived via an integral quadratic constraint (IQC) approach. The IQC framework accommodates distributed-parameter systems with irrational transfer function representations, while generalising existing results in the literature and allowing exploitation of flexibility at zero and infinite frequencies to reduce conservatism in the analysis. The main results manifest the important property that the negative imaginariness of systems gives rise to a certain form of IQCs on positive frequencies that are bounded away from zero and infinity. Two additional sets of IQCs on the DC and instantaneous gains of the systems are shown to be sufficient and necessary for closed-loop stability along a homotopy of systems.Comment: Submitted to Automatica, A preliminary version of this paper appeared in the Proceedings of the 2015 European Control Conferenc

Dissipative Linear Stochastic Hamiltonian Systems

This paper is concerned with stochastic Hamiltonian systems which model a class of open dynamical systems subject to random external forces. Their dynamics are governed by Ito stochastic differential equations whose structure is specified by a Hamiltonian, viscous damping parameters and system-environment coupling functions. We consider energy balance relations for such systems with an emphasis on linear stochastic Hamiltonian (LSH) systems with quadratic Hamiltonians and linear coupling. For LSH systems, we also discuss stability conditions, the structure of the invariant measure and its relation with stochastic versions of the virial theorem. Using Lyapunov functions, organised as deformed Hamiltonians, dissipation relations are also considered for LSH systems driven by statistically uncertain external forces. An application of these results to feedback connections of LSH systems is outlined.Comment: 10 pages, 1 figure, submitted to ANZCC 201

Generalizing Negative Imaginary Systems Theory to Include Free Body Dynamics: Control of Highly Resonant Structures with Free Body Motion

Negative imaginary (NI) systems play an important role in the robust control of highly resonant flexible structures. In this paper, a generalized NI system framework is presented. A new NI system definition is given, which allows for flexible structure systems with colocated force actuators and position sensors, and with free body motion. This definition extends the existing definitions of NI systems. Also, necessary and sufficient conditions are provided for the stability of positive feedback control systems where the plant is NI according to the new definition and the controller is strictly negative imaginary. The stability conditions in this paper are given purely in terms of properties of the plant and controller transfer function matrices, although the proofs rely on state space techniques. Furthermore, the stability conditions given are independent of the plant and controller system order. As an application of these results, a case study involving the control of a flexible robotic arm with a piezo-electric actuator and sensor is presented

Converse negative imaginary theorems

Converse negative imaginary theorems for linear time-invariant systems are derived. In particular, we provide necessary and sufficient conditions for a feedback system to be robustly stable against various types of negative imaginary (NI) uncertainty. Both marginally stable and exponentially stable uncertain NI systems with restrictions on their static or instantaneous gains are considered. It is shown that robust stability against the former class entails the well-known strict NI property, whereas the latter class entails a new type of output strict NI property that is hitherto unexplored. We also establish a non-existence result that no stable system can robustly stabilise all marginally stable NI uncertainty, thereby showing that the uncertainty class of NI systems is too large as far as robust feedback stability is concerned, thus justifying the consideration of subclasses of NI systems with constrained static or instantaneous gains.Comment: This paper has been submitted for possible publication at Automatic