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ACKNOWLEDGMENT
The author would like to thank Dr. Cruz for many useful discussions and feedback and E. Ardestani who helped with the figures,
the reviewers for their valuable feedback, and the anonymous reviewers whose recommendations have helped us greatly in revising
the manuscript.

REFERENCES
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no. 2, pp. 373414, Apr. 1990.
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Vetterli, Multiple description source coding and diversity routing: A
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Trans. Inform. Theory, vol. 50, no. 12, pp. 30623080, Dec. 2004.
[16] A. M. Makowski and R. Nelson, An optimal scheduling policy for
fork/join queues, in Proc. 32nd IEEE Conf. Decision Control, 1993,
pp. 36113617.
[17] S. Mao, Multi-path routing for multiple description video over
wireless ad hoc networks, in Proc. IEEE INFOCOM, 2005, pp.
740750.
[18] S. Mao, S. Lin, Y. Wang, S. Panwar, and Y. Li, Multipath video transport over ad hoc networks, IEEE Wireless Commun. Mag., vol. 12, no.
4, pp. 4249, Aug. 2005.
[19] A. W. Marshall and I. Olkin, Inequalities: Theory of Majorization and
Its Applications. New York: Academic, 1979.
[20] A. Muller and D. Stoyan, Comparison Methods for Stochastic Models
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219233, Oct. 2001.

Stabilization of Networked Control Systems

With a New Delay Characterization
Huijun Gao, Member, IEEE, Xiangyu Meng, and
Tongwen Chen, Fellow, IEEE

AbstractThis paper presents a new approach to solving the problem of

stabilization for networked control systems. Mean-square asymptotic stability is derived for the closed-loop networked control systems, and based
on this, a controller design procedure is proposed for stabilization purpose.
An inverted pendulum system is utilized to show the effectiveness and applicability of the proposed results.
Index TermsDelay, mean-square stability, networked control systems,
stabilization.

I. INTRODUCTION
In a number of emerging engineering applications, the measurement
and control commands need to be sent over communication networks,
which bring considerable and varying transmission times. Typical examples can be seen in the remote control of several mobile units, arrays of microactuators, underwater acoustic, and even neurobiological
and social-economical systems. A typical feature in these systems is
that time division multiplexed computer networks are employed for exchanging information between spatially distributed plant components.
Motivated by these emerging engineering applications, in recent years
more and more attention has been drawn to the development of a general theory for networked control systems (NCSs), which considers
control and communication issues simultaneously.
Results on NCSs are extensively scattered in the literature [1], highlighted by the recent special issue [2], survey papers [3][5], and monograph [6]. The stability of NCSs has been investigated in [7] and [8]
where networked induced delays are taken into consideration for the
stability analysis. The control problem has been addressed in a number
of papers. To mention a few, a sampled-data approach has been developed to design state-feedback controllers which considers the network
induced delays and data-packet dropouts simultaneously in the control
design with or without performance requirements [9], [10]; stochastic
approaches have been proposed by using various stochastic descriptions about the network induced delays or data packet dropouts [11],
[12]; and a moving horizon control strategy has been reported in [13].
The problem of estimation has been solved in [14] which takes into account the data missing phenomenon. In addition, the quantization effect caused by the coding-encoding strategies for NCSs has also been
investigated in [15][17].
Manuscript received January 16, 2007; revised April 17, 2008. Current
version published October 8, 2008. This work was supported by the Natural
Sciences and Engineering Research Council of Canada, National Natural Science Foundation of China (60528007, 60504008), the 111 Project (B08015),
the Research Fund for the Doctoral Programme of Higher Education of
China (20070213084), and Fok Ying Tung Education Foundation (111064).
Recommended by Associate Editor I. Kolmanovsky.
H. Gao and X. Meng are with the Space Control and Inertial Technology
Research Center, Harbin Institute of Technology, Harbin 150001, China (e-mail:
hjgao@hit.edu.cn, mxydavid@yahoo.com.cn).
T. Chen is with the Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB T6G 2V4, Canada (e-mail: tchen@ece.ualberta.ca).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TAC.2008.930190

0018-9286/$25.00 2008 IEEE

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 53, NO. 9, OCTOBER 2008

2143

arrives. The buffer will compare the time stamps on the arrived control signal and the one stored in it, and will be updated only when the
arrived control input is more recent than the existing one. By such a
mechanism, the buffer always stores the most recent control signals and
discards all the old signals according to the time stamps. Therefore, by
considering the network induced delay and the data packet dropout, we
have

u (k) = Kx(k 0 dk )

where dk denotes the step delay of the control signal stored in the
buffer. It is assumed that dk takes values in a finite set, that is, dk 2
f1; 2; . . . ; q g. In addition, the process fdk g is assumed to be i. i. d.
(independent and identically-distributed), with the probabilities given
by

Fig. 1. Networked control system.

When a communication link is involved in control system designs,

the most important issue to be addressed, among a few others, is probably on the network induced delay, which is usually caused by the limited bit rate of the communication channel, by a node waiting to send
out a packet via a busy channel, or by signal processing and propagation. There are recent results related to networked control systems with
delay established in the continuous framework, such as [18][20]. A
common assumption in most of the existing results on network based
control is that the network induced delay is upper bounded (or both
lower and upper bounded). More specifically, suppose the delay induced to a data packet is denoted by dk , and the common assumption
is that dm  dk  dM , with dm and dM being positive constants. This
assumption has been used in a great number of papers, such as [9], [10].
It is not difficult to understand that in some situations, however, some
delay values might occur with higher chance and some values with
lower chance. Prior work uses a probability construction for the delay
with application to continuous time systems [21], and a probabilistic
delay model has also been proposed in a different context in [22], which
studies optimal estimation design for networked control systems with
random delay and packet loss. Therefore, a more realistic and accurate assumption would be to take into account the occurrence probabilities of the delay values in the network based control. Motivated
by the above observation, in this paper, we present a new approach to
solving the problem of stabilization for network based control systems.
More specifically, it is assumed that the network induced delay dk takes
values in a finite set, that is, dk 2 f1 ; 2 ; . . . ; q g, and we investigate
the situation in which the occurrence probabilities of the delays i , i =
1; . . . ; q , are known, that is, Prob fdk = j g = j ; j = 1; . . . ; q ,
where j is a positive scalar and qj=1 j = 1. By introducing indicator functions, the original system with probabilistic network induced
delays is transformed into another multiple delay system with indicator
function based stochastic system parameters. Mean-square asymptotic
stability is then derived for the closed-loop networked control system,
and based on this, a controller design procedure is proposed for stabilization purpose. An inverted pendulum system is utilized to illustrate
the effectiveness and applicability of the proposed results.
II. PROBLEM FORMULATION
Consider a typical networked control system shown in Fig. 1. Suppose the controlled plant is given by the following discrete-time system:

x(k + 1) = Ax (k) + Bu (k) :

(2)

(1)

Here x (k) 2 n is the state vector, and u (k) 2 m is the control

input. In this networked control system, a time stamp is added to the
measurement x (k) before it is transmitted into the network medium.
The controller computes the control signal whenever the measurement

fd k =  j g =  j ; j = 1 ; . . . ; q
(3)
where j is a positive scalar and qj=1 j = 1. If there is only a
Prob

single delay with unit probability, the result will reduce to [23]. An
interesting extension would be to consider (3) as a distribution around
a time-varying mean, such as described in [24].
Remark 1: In our problem formulation, dk denotes the step difference between the running step (k) and time stamp of the data in the
buffer. For example, suppose that the buffer stores the most recent control signal with time stamp t1 . When the next measurement after t1 is
lost during its transmission, the control signal with time stamp t1 will
be used. Thus, dk = k 0 t1 (k denotes the running step). Since dk
depends on both the network-induced delays and data packet dropouts
and we assume that the communication delay and the number of consecutive data packet dropouts are bounded, that is, dk is bounded.
By connecting (2) to (1), the closed-loop system is given by

x(k + 1) = Ax (k) + BKx(k 0 dk ):

(4)

Here dk is a stochastic variable due to the description in (3). Before

proceeding further, we need to introduce the following definition.
Definition 1: The closed-loop system in (4) is said to be
mean-square stable if for any  > 0, there is a  () > 0 such
jx(k)j2 < ;2k > 0 when jx(0)j2 < (). In addition,
that
if limk
jx(k)j = 0 for any initial conditions, then the
closed-loop system in (4) is said to be globally mean-square asymptotically stable (GMSAS).
Remark 2: The closed-loop networked control system in (4) takes
the form of a discrete-time state-delay system. However, it is worth
noting that most of the existing results on discrete time-delay systems
are based on the following common assumption (such as [25]):

!1

dm  dk  dM :

(5)

The assumption in (3) is essentially different from that in (5), and has
some advantages. Let us consider a simple example: suppose the delay
dk takes values in f2; 4; 6g. In this case, if we still use the standard
assumption in (5), we have to select dm = 2 and dM = 6. In such
a way, we actually assume that dk also takes values in f3; 5g besides
f2; 4; 6g, and thus overdesign will be introduced due to the inaccuracy
of the delay characterization.
Remark 3: The problem formulated above is different from that in
[11]. In [11], the problem of stochastic analysis and control of real-time
systems with random time delays is investigated, where the stochastic
delays are assumed to be less than one sampling period. While in our
problem, we start from the discrete-time model, and consider the case
of longer network induced delays with certain probabilities. In addition, [11] investigates the problem of optimal stochastic control while
we target at stochastic stability analysis and stabilization. The above

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 53, NO. 9, OCTOBER 2008

formulation is also different from most of the existing results on the

stabilization of NCS with the consideration of network induced delays
(such as those described in [3, Section III-C of ]), which largely use
the delay bounds instead of the delay distribution probabilities. As far
as we know, this paper makes the first attempt to introduce the probabilistic delay model, which will be shown advantageous over the traditional interval delay model in the Example section.
Remark 4: For discrete-time system with state delay, we can
usually transform it into a Markov jump linear system by considering
z (k) = [ x (k) x (k 0 1) . . . x (k 0 max (dk )) ] for fixed k .
Moreover, under the assumption of (3), the transformed system will be
x(k + 1) = A(k)x (k), with A(k) jumping among A1 ; . . . ; Aq , and
Prob A(k) = Aj = j , j = 1; . . . ; q . It is noted that the jump
of A(k) is independent of the previous A(k 0 1) is a special case of
Markovian jump linear system, and the existing results on Markovian
jump systems since the transition probability, thus existing results
(such as [26], [27]) can be applied to the above problem.
In this paper we will investigate under what condition the
closed-loop networked control system in (4) is GMSAS. In addition, we will also investigate how to design the controller gain K such
that the closed-loop networked control system in (4) is GMSAS.
III. MAIN RESULTS
The key idea is to introduce indicator functions fd =

fd

=

1; d k =  j

g as

g = 0; dk 6= j .

Thus we have

fd

=

g = Prob fdk = j g = j ; j = 1; . . . ; q:

Theorem 1: Consider the networked control problem in Fig. 1.

Given the system in (1) and the state-feedback controller in (2), the
closed-loop system in (4) is GMSAS for any network induced delays
dk satisfying (3) if there exist matrices P > 0, Qj > 0, Mj , Zj > 0
satisfying

41 + 4T2 + 42 + 51 43 5T1 + 52 44 5T2

45
046 < 0

(7)

where see the first equation shown at the bottom of the page.
Remark 5: It is worth noting that not only the delay sizes i but
also the delay probabilities i have been incorporated into the stability
condition presented in Theorem 1. When i and i are known, the condition in Theorem 1 is a linear matrix inequality over the decision variables to be determined. The derivation of Theorem 1 makes use of the
free weighting matrix idea for achieving delay-dependence (such as
[28]), which potentially reduces the conservatism as no model transformation has been performed and thus no inequality has been utilized
for bounding cross product terms. The conservatism also largely depends on the choice of the Lyaopunov-Krasovskii functional, i.e., (13).
One could consider employing a less conservative treatment of Q and
Z for a specified j (see [29]).
Based on Theorem 1, a controller design result is given in the following theorem.
Theorem 2: Consider the networked control problem in Fig. 1.
Given the system in (1), a state-feedback controller in the form of
(2) exists such that the closed-loop system in (4) is GMSAS for any
network induced delays dk satisfying (3) if there exist matrices P > 0,
Q j > 0, M j , Zj > 0 satisfying

Therefore, the closed-loop system in (4) can be rewritten as

x(k + 1) = Ax (k) +

q
j =1

fd

=

g BKx(k 0 j ):

1 +
2T +
2
3
5
7
3

4 0 0 < 0
3
3
6 0
3
3 3
8

(6)

Then, we are in a position to present the main stability result.

p T
p 2 AT 1 1 1 p q AT
p1K1 AT BT
0
p2 K0 T BT 11 11 11
0
3
51 =
..
.
3
3
pq K0 T BT
3
3
3
p1 (A 0 I )T p2 (A 0 I )T 1 1 1 pq (A 0 I )T
p 1 K T B T
0
p2 K0 T BT 11 11 11
0
3
52 =
..
.
0
3
3
3
3
3 p q K T B T
q
41 = diag 0P + Qj ; 0Q1 ; 0Q2 ; . . . ; 0Qq
42 =

q
j =1

j =1

Mj

0M1 0M2 1 1 1 0 Mq

43 = diag fP; P; . . . ; P g ; 44 = diag

j Z j ;

j Z j ; . . . ;

j Z j

45 = [ p1 M1 p2 M2 1 1 1 pq Mq ] ; 46 = diag fZ1 ; Z2 ; . . . ; Zq g :

j =1

j =1

j =1

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(8)

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 53, NO. 9, OCTOBER 2008

where you see the equation shown at the bottom of the page. Moreover,
an admissible controller gain is given by

K = K P 01 :

(9)

Remark 6: Theorem 2 gives a linear matrix inequality condition for

the existence of stabilizing controllers. It is worth mentioning that this
is achieved by using the inequality in (16), which renders that the condition in Theorem 2 is only sufficient for that in Theorem 1. If we do
not introduce the inequality in (16), we may obtain a less conservative
controller design procedure by utilizing the cone complementarity linearization idea [30].
Remark 7: In some practical applications, however, we may encounter the case that only partial information of the state can be measured. In this case, instead of x(k ), the measurement is given by y (k) =
Cx(k). One possible way to solve the stabilization problem is to consider the static output-feedback control strategy. The static output-feedback control has been recognized to be a difficult problem. Very recently, [25] proposes a cone complementarity linearization (CCL) procedure for designing static output-feedback controllers, which could
be utilized to solve the above static output-feedback problem based on
Theorem 1. Another way to solve the problem with partial measurements is to consider the problem of observer-based output-feedback
control, that is, an estimator for estimating x(k) is placed before the
controller. The idea in [31], [32] is illuminating for solving this observer-based control problem.
Remark 8: In this paper, we target at solving the problem of stabilization via state-feedback controllers, and do not incorporate performance optimization. However, within this framework the results obtained above could be further extended to the case where some performance is optimized. One direct extension is to consider the H1 disturbance rejection problem. For this problem, the objective is to design
a state-feedback controller in the form of (2) such that the closed-loop
system is mean-square stability and preserves a guaranteed H1 performance , where is the optimization index in the controller design process. Another extension of the obtained result is to incorpo-

1 = diag 0P +

q
j =1

2145

rate the convergence rate optimization into the controller design procedure. One possible way is to consider the exponential convergence
rate, which could be achieved by modifying the index function we introduced in (13). Some existing references about the exponential stability in the LMI framework (such as [33]) are illuminating for solving
this problem.
IV. ILLUSTRATIVE EXAMPLE
In this section, we use an inverted pendulum system to illustrate the
results developed in the above section. The discretized model for the
pendulum system is given by [23]

x (k + 1) = Ax (k) + Bu (k)
with

A=

(10)

1:0078 0:0301 ; B = 00:0001 :

0:5202 1:0078
00:0053

The eigenvalues of A are 1.1329 and 0.8827, thus this discretized

system is unstable. It is assumed that the network induced delays exist
in dk 2 f2; 4; 6g, with probabilities given by

Prob fdk = 2g = 0:1;

Prob fdk = 4g = 0:8;
Prob fdk = 6g = 0:1:

(11)

By applying Theorem 2, we obtain the following matrices:

187:4243 0138:0439
0138:0439 923:2942
K = 104 2 [ 1:7907 0:9014 ] :
P =

Therefore, from (9) we obtain the following admissible controller

u (k) = [ 115:4474 27:0233] x(k 0 dk ).
In the following, we will examine the stochastic stability of the
closed-loop system. Assuming that the initial condition of the state is
[ 0:5 00:3 ]T , the closed-loop state responses are depicted in Fig. 2

Q j ; 0Q 1 ; 0Q 2 ; . . . ; 0Q q

q
M j 0M 1 0M 2 1 1 1 0M q

2 =
j =1

3 = [ p1 M 1 p2 M 2 1 1 1 pq M q ] ;

4 = diag Z1 0 2P ; Z2 0 2P ; . . . ; Zq 0 2P

6 = diag 0P ; 0P ; . . . ; 0P ;

10 = diag fI; I; . . . ; I g
p
1
9 2
9 1 1 1 p q
9 ]

7 = [ pp
 T p2 P AT 1 1 1 pq P AT
p11KPTABT
0
p2 K0 T BT 11 11 11
0
3

5 =
..
.
0
3
3
3
3
3 pq K T BT

8 = diag 0Z1

10 ; 0Z2

10 ; . . . ; 0Zq

10
p1 P (A 0 I )T p2 P (A 0 I )T 1 1 1 pq P (A 0 I )T
p1 K T BT
0
p2 K0 T BT 11 11 11
0
3

9 =
:
..
.
0
3
3
3
3
3 pq K T BT
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CALCULATED VALUES OF d

TABLE I
BY DIFFERENT EXISTING METHODS

control systems, and based on this, a controller design procedure is

proposed for stabilization purpose. The effectiveness and applicability
of the proposed results are shown via simulations on an inverted
pendulum system.
APPENDIX I
PROOF OF THEOREM 1

) (

+ 1) . . . ; x(k)g. To prove the the-

;
Let Xk fx k 0 q ; x k 0 q
orem, we introduce the following function:
V

(Xk ; k)
V1

0V 2
V3
Fig. 2. State responses of the closed-loop system.

 (k)

for several sets of network induced delays generated based on the

probabilities in (11). From Fig. 2, we can see that the state variables
converge to zero under the randomly generated network induced
delays, showing the effectiveness of the controller design.
The second task is to make a comparison with existing results,
to verify our previous claim that considering the stochastic probability will be more advantageous than using the time-varying delay
fdk g : ,
interval only. To the end, let us assume that
fd k g : ,
fd k
g : . By Theorem 2, we
obtain the following stabilizing controller:

Prob

= 4 = 0 1 Prob

u (k) = [ 117:8241

Prob
= 12 = 0 1

f1V jXk g

=2

V. CONCLUSION
The problem of stabilization for networked control systems has
been solved based on a new assumption on the network induced
delays, which characterizes the network induced delays more accurately and reasonable than some exiting ones extensively used in the
literature. Stability analysis and stabilization control problems have
been addressed using the Lyapunov method and the linear matrix
inequality techniques. A sufficient condition for the mean-square
asymptotic stability is first derived for the closed-loop networked

f V (Xk+1 ; k + 1)j Xk g 0 V (Xk ; k)

= f1V1 jXk g + f1V2 jXk g
+ f1V3 jXk g

(14)

where you see the equation shown at the top of the next page. For any
appropriately dimensioned matrices

(12)

Now, we will use our method with uniform delay probabilities in an

interval dm ; dM and the existing delay-dependent stability conditions
that use the time-varying delay intervals to test how much delay the
above controller can tolerate that the closed-loop system is stable. We
assume dm
, and we are interested in using the results in [23],
[25], [34] to calculate the maximum dM , such that the controller in
(12) stabilizes the original system for dm  dk  dM . The results
obtained are listed in Table I. These calculation results clearly show
that the utilization of the delay probabilities in the controller design will
yield less conservative results than using the delay interval bounds.

(13)

where P , Qj , Zj are positive definite matrices to be determined. Then,

along the solution of (6) we have

=2 = 08

25:3483] x(k 0 dk ):

V 1 + V2 + V 3 ;
x T (k ) P x (k ) ;
q
k01
xT (i)Qj x(i);
j =1 i=k0
q
01 k01
T (m)Zj (m);
j =1 i=0 m=k +i
x(k + 1) 0 x (k) ;

Mj

= [ M0Tj

1 1 1 MqjT ]T

M1Tj M2Tj

we have

 T (k ) M j x (k ) 0 x (k 0  j ) 0

()=

() (

01
0

l=k 

) (

(l)

= 0;
j = 1; . . . ; q

)T

where  k
x T k x T k 0  1 x T k 0  2 1 1 1 xT k 0  q .
Then, we have (15), shown on the next page. Note that the last term
in (15) is no larger than zero. By Schur complement, (7) guarantees
q
01 T
1
2
1 3 T1 2 4 T2
2T
j =1 j Mj Zj Mj < .
we have f V Xk+1 ; k
j Xk g < V Xk ; k ,
Thus, for all Xk 6
that is, there exists <  < satisfying

4 + 4 + 4 + 5 4 5 +5 4 5 +
=0
(
+ 1)
0
1
f V (Xk+1 ; k + 1)j Xk g  V (Xk ; k) :
By using this relationship recursively we have

f V (Xk ; k)j X0 g  k V (X0 ; 0) :

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)

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 53, NO. 9, OCTOBER 2008

f1V1 jXk g =

Ax (k) +

q
j =1

fd = g BKx(k 0 j )

2 Ax (k) +

= xT (k)
+
f1V2 jXk g =

01

q
j =1
q

j =1

q
l=1

l Z l

j xT (k)(A 0 I )T

l=1
q

 j x T (k 0  j )K T B T
q

01
0

j =1 l=k 

q
j =1
q

l=1

T (l)Zj (l)

q
j =1
q

q
l=1

j xT (k)(A 0 I )T

01

k=0

j =1

j =1 l=k 
q
j =1

j xT (k) AT P BKx(k 0 j )

l Zl BKx(k 0 j )

l=1
q
l=1

 T (l )Z j  (l )

l Zl BKx(k 0 j )

Xk

 T (k ) M j x (k ) 0 x (k 0  j ) 0
q

01
0

j =1 l=k 

Since

(X k ; k ) X 0

 (1 +  + 1 1 1 + N )V (X0 ; 0)
N +1
= 1 01 0  V (X0 ; 0) :

01
0

l=k 

 (l )

 T (k) Mj + T (l)Zj Zj01 MjT  (k) + Zj (l)

Then, we have
N

Xk :

(A 0 I ) x (k)

l Z l

 j x T (k 0  j )K T B T

+2

l Zl BKx(k 0 j )

x T (k )Q j x (k ) 0 x T (k 0  j )Q j x (k 0 j )

j =1

j =1

l Zl BKx(k 0 j )

j xT (k 0 j )K T B T P BKx(k 0 j )

+ xT (k)(A 0 I )T

Xk

(A 0 I ) x (k)

f1V jXk g  xT (k) AT P A 0 P x (k) + 2

+2

j =1

j xT (k) AT P BKx(k 0 j )

 T (k ) Z j  (k ) 0  T (k + i)Z j  (k + i)

j =1 i= 

0 xT (k) P x (k) Xk

j x (k 0 j )K B P BKx(k 0 j );
T

= xT (k)(A 0 I )T

fd = g BKx(k 0 j )

A T P A 0 P x (k ) + 2

f1V3 jXk g =

j =1

xT (k)Qj x(k) 0 xT (k 0 j )Qj x (k 0 j ) ;

j =1

+2

j =1

2147

Qj

>

limN !1

N
k=0

and

Xk :

xT (k)Px(k) X0

Zj

(15)

>
0, then
(1=1 0 )W0 (X0 ).

Using the Rayleigh quotient inequality, we have

lim
N !1

N
k=0

x T (k )x (k ) X 0

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 (1 0 )1min (P ) V (X0 ; 0)

2148

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 53, NO. 9, OCTOBER 2008

j ( )j2 ! 0 as

which means
concluded.

x k

! 1, then the proof is

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APPENDIX II
PROOF OF THEOREM 2
First by noticing Zi
which is equivalent to

>

0, we have i 0  i01 i 0   0,
P

0  i01   i 0 2 
PZ

(16)

P:

From (12) and (16) we know that

1 +
T2 +
2
3
5
7
3

 4 0 0
3
3
6 0
3
3 3
8

defining

(17)

= diag 0  101  0  201  . . . 0  q01  .

a
congruence
transformation
by
 01  01

10  01

10
10
10 . . .
10 and by

4
where

Performing
diag

<

PZ

;P

;P

P;

PZ

P;

Q P

Z P

KP

=  01
01
01
j =  j 
0
1
0
1
j = j j 
=   01
 =  01  01
01  01

10  j  01
j = diag 

PZ

QP

;P

M P

we readily obtain (7) after a Schur complement operation. The proof is

completed.

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