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Proceedings of the American Control Conference

Arlington, VA June 25-27, 2001


Robust stability of a diamond of complex multivariate
polynomials
Marc0 Ivan Ramire5Sosa Moran
Instituto Politecnico Nacional
ESIMEZSEPI Departamento de Ingenieria Electric4 IMif. 24 U.P. Adolfo Lopez Mateos,
Mexico, D.F. 07738
mi.ramirezsosa@ieee.org
Abstract
Here wepresent the smallest stability verifying set of
edge polynomials for a diamond of complex bivariate
polynomials, and we give the generalization for the
multivariate case.
1 Introduction
In [l] was presented that the Hurwitz stability of 16
edge polynomials impliea that of a diamond of complex
uuivariate polynomials, a generalization to the multi-
variate case appeared in [4], where it was shown that
the scattering Hurwitz stability of only 16m edge poly-
nomials implies that of a diamond of complex mvariate
polynomds. Hem,_=study the stability in the sense
given in [2] for multivariate polynomials, which is the
most suitable class of polynomials for the robustms
analysis. The case of robust stability of a diamond
of real multivariate polynomials was presented in [3],
which proves that the stability verifying set of poly11.0-
mials for a di amond of resl mvariate polynomials is
formed by (m +1) 2(+l) vertices of the diamond. In
the next &on we give aomenotation and definitions
which will be used here in. The third section presents
the main result for the case of bivariate polynomials,
which is straightforward extended to the case of poly-
nomials of m variablq and finally we preaent some
remarks and conclusions.
2 Basic Notation
polynomials.
Given a vector (nl , 722, . . . , h), where 0 5 n, E Z,
j =1, 2 ,..., m,, let US define the set P,,,n2 ..., n,,, -
m-va,riate complex polynomials.
Define a polydomain I ? : ) ={s : Re(sj ) 2 0, j =
1,2, ... m},anditsessentialboundaryR= { &: U, E
R, j =l , 2 ,..., m}.
-
b(S) : deg(P) =(n1, m, * - 7 %)},Ofcodant degree
D-ion1 A mmph polybonaial p(s) E
Pnl,na,...,,,,,, is called strict senae stable (SSS) if
p(~) +o, V S E r$?.
3 Complex diamond of polynomials
and b(O) are the cent- of the diamonds Da and Db
respectively; a and b are their radii.
Polynomial p( s ) with co&cient vector (a+ib) vary-
ing in these diamonds generat- a diamond of cow
p k x mdtiuariate poEynomiclls, which is ht ed by
Polynomial po (s) =p (s,a(O) +~b(~))representa the
=(p (8) : a EDa, b EDb) .
0-7803-6495-3/01/$10.00 0 2001 AACC 4697
center of the M y and it will beassumed to bestable.
To fiud the set of polynomisls whosestability implies
that of the diamond, we me a frequency domain a p
proach, that is, we aml pe the value set for di f f erent
regiona of the distinguished boundrvy Sa. For d&te
ne98we consider first the bivariate case, m =2.
Consider a complez diamond of biva&te polgmomiads,
2) c Pnl,- and assume that tal and n~ are both even.
De.6nethe value set of 2) for every (&I, &2) E Sa, VD =
(p(iW1,iWZ) : p E 21). The vertkea of Vp belong to the
set of complex points
f (i)kl+kz wpw2;po f ( i ) kl +kz+l b k i wk z .
1 2 9
f (,$l+ka wkiWkz f (i)h+kl+l b h W k a
1 2 1 2 ; (1)
for all kl =0,1,. . . ,n1; k;z =O, l , . . . ,m.
F'" here we can determine which are the dements of
(1) that are the generators of the boundary of Vp at
0, k: =1,2} which is in turn dividedin eight subregions
s2, ={ i w : w1 E ( 0, 1) , w2 E (0,l); w1 >%}, s2, =
point kl Sa. && We consider Sa+ ={ i W : idk >
{iw : (4 E (0,l) y "2 E (0,l) ; w1 <WZ}, Sa,- ={iw :
w1 E ( l , oo) , % E (0,l); U1 <&}, Sal+ =(iw : "1 E
(l,..), wz E (0,1); "1 >&} y %+=(i w : w E (091);
E (1,oo); &- >q}, QQ- =(iw : q E ( O, l ) ,
E (1,oo); & <Wl ) , Sa1,2- ={iw : "1 E (1,00),
WZ E (1,W) i wz .e "11, %,2+ ={i w : "1 E (I,=)) ,
wz E (1,m); % >w).
l k m [4] we have the fobwing 32 edge polynomials
whoseimages for the pair (iq, iw) , in someregions of
R, generate the boundary of vp (iW1,iwz) :
po (s) - p (a f ib) +(1 - p) (ask Fi b)
Po (4 +p (a f ib) - (1 - p) ( U k T i b)
po (s) - p(a f i b ) - (1 - p ) (a$ ibsk)
po (8) +p ( a f ib) +(1 - p) (UT ibSk)
po (s) - p (a A ib) i p +(1 - p) (ask F i b ) s7-l
po (s) +p (a f ib) s? - (1 - p) (ask i b) 8T-l
po (s) - p (a f ib) s p - (1 - p) (a ib8k) .;;"-I
po (a) +p (a f i b ) +(I - p) (a F ibsk) s7-l (2)
where IC =1, 2 and p E [0,1].
As in [4] the region formed by subregions
are considered not having switching frequenc4ea at
generatea the boundary of the value set af the family
in these 6 subregiom in the four quadrants.
%+,SZz-,Ql,2- and the one by Ql+YSal--,Ql,2+
"1 =- l , exists another set of polynomials which
wz
These other 32 stab%& checking polynomials are:
p o ( s ) - p ( a s ~f i b ) s ; "- l s ~- l +( l - p ) ( a ~i b ) s ; "s y
po(f J)+p(aSk * i b ) S y - l q - l - ( l - p ) ( ar i b) s y s y
(8)-p (a f i b k ) s y - 1 s y - (1 - p) (a ' f i b ) .;"ST
po(s)+p(afibk)s~-'s~-1+(1 - p ) (arib)s?Lq
po (s) - p(af ib) S F +(1 - p) (asj Fi b) s p
po(a)+p(afib)s;fh -(l-p)(asjFib)sp
po (a) - p ( a f ib) 3" - (1 - p ) ( a Ti bSj ) s p
po (s) +p (a f ib) s p +(1 - p ) (a F i h j ) ST;" (3)
where k =1,2;j =1,2; k #j and p E [o, 11.
With this we provethe next result:
Theorem1 A oomplez diamond of bivariate polyzo-
miah b stable if and odv if the 64 edgepolywmials of
the diamond, (2)-(3), an? stable for p E [0,1]-
For the case of mvariate polynomials we haw:
Theorenm2 A complez diamond of m-variate polylo-
naials is stabk if and odv if m2(m+3) edge polynomicrls
of tlae di amnd are stable f ' p E [O, 11.
4 Conclusions
~n this we presented the Mult thst m2(m+3)
edges of a diamond form the set of stabiity checking
polynomials of a complex diamond of mvarjate poly-
nomisla.
References
terexample and correction to a recent r d t on ro-
bust atabiliQ of a di amond of complex polynomisls,"
IEEE 2)ansactions on Oinxits a d Systems, Vol. 38,
pp. 1397-1400,1991.
[2] Kharitom, V.L. and Torres Muiioz, J.A., "Ro-
bust Stability of Multivariate Polynomials Part 1:
tenas and s i g d p"ing, ~1. 10, pp. 7-20,1999.
[3] Kharitomv, V.L., Torres Muiioz, J.A. and
M.L "Robust StabiliQ of Multivariate
PolynOmirJs Part 2 Polytopic coetlicient vsriations,"
Multidimensioned sgstems and signal processing, ~1. 10,
pp. 2142,1999..
[4] Shi, Y.Q., and Zhou, S.F., "Stabilibof a set
of mdtdri ate complex polynomials with coeflicienoe
varying in a diamond domain," BEE !Bans. on Cir-
cuits and Sgstmne: I, Vol. 39, No. 8, pp. 683-688,1992.
[l]
Bose, N.K. and Kim, K.D., laeply to "&U-
S d perturbations," Multidimesasiod S~S-
4698

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