Nonlinear Analysis: Real World Applications 14 (2013) 15031510

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Nonlinear Analysis: Real World Applications

journal homepage: www.elsevier.com/locate/nonrwa

2-D digital filter realization without overflow oscillations

Vimal Singh
Department of Electrical-Electronics Engineering, Atilim University, Ankara 06836, Turkey

article

info

Article history:
Received 18 January 2012
Accepted 15 October 2012
Keywords:
Asymptotic stability
Digital filter word length effect
Lyapunov method
Multidimensional system
Overflow oscillation

abstract
A novel criterion for the elimination of overflow oscillations in 2-D state-space digital
filters described by the Roesser model employing twos complement overflow arithmetic
is presented. The criterion takes the form of linear matrix inequality (LMI) and, hence,
is computationally tractable. The criterion is a generalization and improvement over an
earlier criterion. An example shows the effectiveness of the new criterion.
2012 Elsevier Ltd. All rights reserved.

1. Introduction
Two-dimensional (2-D) systems play an important role in image data processing and transmission, water stream heating,
thermal processes, biomedical imaging, gas absorption [1,2], river pollution modeling [3], process of gas filtration [4], grid
based wireless sensor networks [5,6], and many other areas. Due to a broad range of applications such systems have been
studied extensively.
An explicit state-space description of 2-D discrete systems was presented by Roesser [7]. Two well known models were
introduced by Fornasni and Marchesini [8,9]. With the introduction of the 2-D models [79], a great deal of interest has been
generated in the issues related to the stability of 2-D systems ([1022], to mention a few). For a sample of literature on the
recent related advances, the reader is referred to [2342] and the references therein.
The occurrence of errors due to finite register length is unavoidable when implementing a discrete system using
fixed-point arithmetic. The signals in the system are represented with finite precision arithmetic. Arithmetic operations
(e.g., multiplications and additions) performed in the digital filter generally lead to an increase in the required word length.
Therefore, precautionary measures need often to be taken for signal word length reduction, namely quantization and
overflow corrections. These word length reductions have the effect of inserting nonlinearities (quantization and overflow
nonlinearities) in the system. A detailed explanation of how quantization and overflow nonlinearities are produced in the
implementation of digital filters using fixed-point arithmetic can be found in [43]. The presence of such nonlinearities may
result in the instability of the designed system. The limit cycle phenomenon, which is characteristic of nonlinear systems,
may possibly occur if the system parameters are not chosen properly [44]. The zero-input limit cycles (or the so-called
overflow oscillationss [11,12,44,45]) represent an unstable behavior and are undesirable in digital filters [11,12,44,45]. A
detailed explanation of how the absence of overflow oscillations is helpful in achieving an efficient design for discrete system
implemented with fixed-point arithmetic can be found in [45].
An important objective in the design of a 2-D discrete system is, therefore, to ensure that the designed system is free
of zero-input limit cycles. If the zero solution of the system can be shown to be globally asymptotically stable, then this
automatically implies the absence of zero-input limit cycles. The quantization and overflow nonlinearities may interact

Tel.: +90 312 586 8391; fax: +90 312 586 8091.
E-mail addresses: vsingh11@rediffmail.com, vimal_singh@atilim.edu.tr.

1468-1218/$ see front matter 2012 Elsevier Ltd. All rights reserved.
doi:10.1016/j.nonrwa.2012.10.014

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V. Singh / Nonlinear Analysis: Real World Applications 14 (2013) 15031510

with each other. However, if the total number of quantization steps is large or, in other words, the internal word length
is sufficiently long, then the effects of these nonlinearities can be regarded as decoupled or noninteracting and can be
investigated separately. Under this decoupling approximation, quantization effects may be neglected when studying the
effects of overflow [43].
The above discussion reveals that the design of a 2-D discrete system so as to ensure the stability of the designed system
is an interesting and challenging problem. Considerable attention has been paid to the stability problems of nonlinear 2D discrete systems [4656]. The stability problems of nonlinear 2-D discrete systems described by the Roesser model [7]
have received considerable attention [4651]. The stability problems of nonlinear 2-D discrete systems described by the
FornasiniMarchesini second model [9] have also also been studied [5256].
A number of criteria for the stability of 2-D discrete systems described by the Roesser model employing saturation
overflow arithmetic have been reported ([4651], to mention a few). By contrast, to the best of authors knowledge, a result
due to Al-Agizi and Fahmy [11] appears to be the only known 2-D stability criterion pertaining to twos complement overflow
arithmetic.
Here it is worth pointing out that the hardware implementation of twos complement arithmetic adder is simpler and
less expensive than that of the saturation arithmetic adder [57].
A 2-D stability criterion pertaining to a generalized form of overflow arithmetic was presented in [46], which (as
shown [46]), pertaining to twos complement arithmetic, turns out to be same as AgiziFahmys criterion [11].
Motivated by the above considerations, this paper aims to establish a new 2-D stability criterion (distinct from
AgiziFahmys criterion [11]) pertaining to twos complement arithmetic.
The paper is organized as follows. A description of the system under consideration is given in Section 2. Section 3 presents
the main result (new stability criterion) of the paper. A comparison with Fahmys criterion [11] and an illustrative example
are presented in Section 4. Finally, the conclusion of the paper is drawn in Section 5, where some problems for future
investigation are highlighted.
2. System description
The system under consideration is the zero-input 2-D discrete system described by the Roesser model employing
overflow nonlinearities. Specifically, the system under consideration is the state-space quarter-plane model
xh (k + 1, l)
x11 (k, l) =
= f(y(k, l)),
xv (k, l + 1)

f(y(k, l)) =

(1)

fh (yh (k, l))

,
fv (yv (k, l))

(2)

(3)

(4)

fh (yh (k, l)) = f1h (yh1 (k, l)), . . . , fmh (yhm (k, l))

fv (yv (k, l)) = f1v (yv1 (k, l)), . . . , fnv (yvn (k, l))

A
yh (k, l)
= 11
A21
yv (k, l)
= Ax(k, l),

y(k, l) =

A12
A22

yh (k, l) = yh1 (k, l), . . . , yhm (k, l)

xh (k, l)
xv (k, l)

(5)

T
yv (k, l) = yv1 (k, l), . . . , yvm (k, l) ,

(6)

k 0,

(8)

(7)

l 0,

where k Z+ , l Z+ , and Z+ denotes the set of nonnegative integers. The two space coordinates k, an integral-valued
horizontal coordinate, and l, an integral-valued vertical coordinate, are analogous to time in 1-D systems [7]. The state
vectors xh (k, l) Rm and xv (k, l) Rn convey information horizontally and vertically, respectively [7]. The A11
Rmm , A12 Rmn , A21 Rnm , A22 Rnn are the coefficient matrices [7], and the superscript T denotes the transpose of a
vector or matrix. The fih (yhi (k, l)), i = 1, 2, . . . , m, fiv (yvi (k, l)), i = 1, 2, . . . , n, represent the overflow nonlinearities. We
will neglect the effects of quantization. It is understood that system (1) has a finite set of initial conditions [11,46], i.e., there
exist two positive integers K and L such that
xv (k, 0) = 0,

k K;

xh (0, l) = 0,

l L,

(9)

where 0 denotes the null vector or null matrix of appropriate dimension.

The following definitions [46] are needed.
Definition 1. The origin x = 0 of the 2-D system (1) is said to be stable (in the sense of Lyapunov) if, for every > 0, there
exists a = () > 0 such that x(k, l) < for all k > 0, l > 0, whenever x(k, 0) < for 0 k K and x(0, l) <
for 0 l L, where K and L are specified in (9) and denotes any of the equivalent norms on R.

V. Singh / Nonlinear Analysis: Real World Applications 14 (2013) 15031510

1505

Definition 2. The origin x = 0 of the 2-D system (1) is said to be globally asymptotically stable if the following holds:
(1) it is stable;
(2) every solution of (1) tends to the origin as k + l , i.e.,
lim

k and/or l

x(k, l) =

lim x(k, l) = 0

k+l

for system (1) for any set of initial conditions satisfying (9).
This paper considers the nonlinearities given by

1
1

fih (yhi (r ))
yhi (r )
fiv (yvi (r ))
yvi (r )

1,

fih (0) = 0,

i = 1, . . . , m,

(10)

1,

fiv (0) = 0,

i = 1 , . . . , n,

(11)

which include, among others, twos complement arithmetic. In the following section, a new criterion for the elimination of
overflow oscillations in system (1)(11) is presented. The criterion presented, in fact, provides a stronger result, namely,
global asymptotic stability of the null solution, thereby automatically implying the absence of overflow oscillations.
3. Main result
Define
m

shi =

a11
ij +

j =1
m

svi =

a12
ij ,

i = 1 , . . . , m,

(12)

a22
ij ,

i = 1, . . . , n,

(13)

j =1

a21
ij +

j =1

j =1

where state transition matrix A = [aij ] is represented in terms of submatrices Auv = [auijv ]. Let
shi > 1,
shi 1,

i = 1, . . . , p
,
i = p + 1, . . . , m

(14)

svi > 1,
svi 1,

i = 1, . . . , q
,
i = q + 1, . . . , n

(15)

where p(q) are integers between 0 and m(n).

The main result of this paper is given in the following theorem.
Theorem 1. System (1)(11), (14), (15) is globally asymptotically stable if there are positive- definite symmetric matrices
Ph Rmm , Pv Rnn , and positive-definite diagonal matrices Dh = diag(dh1 , . . . , dhp ), Dv = diag(dv1 , . . . , dvq ) such that

Q=

AT (BD PB)
> 0,
D BT PB

P AT PA
(DBT BT P)A

(16)

where P = Ph Pv , D = Dh Dv , B = Bh Bv ,
Bh =

Ip
0

Rmp ,

Bv =

Iq
0

Rnq ,

(17)

Ip (Iq ) denotes the p p (q q) identity matrix, and >0 implies that the matrix in question is positive definite.
Proof. It was shown in [50] that the global asymptotic stability of system (1)(11), (14), (15) is equivalent to that of the
following system:

fhI (yhI (k, l))

yh (k, l)
II

x11 (k, l) =
fv (yv (k, l)) ,
I
I
yvII (k, l)

(18)

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V. Singh / Nonlinear Analysis: Real World Applications 14 (2013) 15031510

where
fhI (yhI (k, l)) = f1h (yh1 (k, l)), . . . , fph (yhp (k, l))

fvI (yvI (k, l)) = f1v (yv1 (k, l)), . . . , fqv (yvq (k, l))

(19)

(20)

(k, l)
(k, l)

y(k, l) =
yv (k, l) = Ax(k, l),
yhI
yhII

(21)

yvII (k, l)

yhI (k, l) = yh1 (k, l),

yhp (k, l)

,
T
yhII (k, l) = yhp+1 (k, l), , yhm (k, l) ,
v
T
v
yvI (k, l) = y1 (k, l), , yq (k, l) ,
v
T
v
yvII (k, l) = yq+1 (k, l), , yn (k, l) .

(22)

(23)
(24)
(25)

Define
eI (yI (k, l)) =

ehI (yhI (k, l))

evI (yvI (k, l))

(26)

where
ehI (yhI (k, l)) = [eh1 (yh1 (k, l)), . . . , ehp (yhp (k, l))]T

= yhI (k, l) fhI (yhI (k, l))

v

(27)

eI (yI (k, l)) = [e1 (y1 (k, l)), . . . , eq (yq (k, l))]
= yvI (k, l) fvI (yvI (k, l)).

(28)

Substituting fhI (yhI (k, l)) from (27) and fvI (yvI (k, l)) from (28) in (18), (18) can be rearranged as
x11 (k, l) = Ax(k, l) BeI (yI (k, l)).

(29)

Now choose a quadratic Lyapunov function

v(x(k, l)) = v h (xh (k, l)) + v v (xv (k, l))

= xhT (k, l)Ph xh (k, l) + xvT (k, l)Pv xv (k, l).

(30)

Along the trajectories of (29), one has

1v(x(k, l)) = v(x11 (k, l)) v(x(k, l))

= v h (xh (k + 1, l)) + v v (xv (k, l + 1)) v h (xh (k, l)) v v (xv (k, l))
= xT (k, l)[P AT PA]x(k, l) xT (k, l)AT PBeI (yI (k, l))

eTI (yI (k, l))BT PAx(k, l) + eTI (yI (k, l))BT PBeI (yI (k, l)).

(31)

Consider

dhi yhi (k, l) fih (yhi (k, l))

yhi (k, l) + fih (yhi (k, l))

i=1

dvi yvi (k, l) fiv (yvi (k, l))

yvi (k, l) + fiv (yvi (k, l))

i=1

dhi ehi (yhi (r )) 2yhi (k, l) ehi (yhi (k, l)) +

i=1

= (yI (r ))
eTI

dvi evi (yvi (r )) 2yvi (k, l) evi (yvi (k, l))

i =1

DeTI

(yI (r )) + x (r )A BDeI (yI (r )) + eTI (yI (r ))DBT Ax(r ).

T

(32)

Adding to and subtracting from (31) the quantity , (31) can be rearranged as

1v(x(k, l)) = xT (r ), eTI (y(r )) Q

x(r )
,
eI (yI (r ))

(33)

V. Singh / Nonlinear Analysis: Real World Applications 14 (2013) 15031510

1507

where Q is given by (16). Clearly, for the nonlinearities given by (10) and (11), is nonnegative. Therefore, the 1v(x(k, l))
function in (33) satisfies 1v(x(k, l)) 0 if (16) holds and 1v(x(k, l)) = 0 only if xh (k, l) = 0, xv (k, l) = 0.
Now for any non-negative integer d max {K , L} defined by (9), one has

v(x(k, l)) =

k+l=d+1

v h (xh (k, l)) +

k+l=d+1

v v (xv (k, l))

k+l=d+1

= v h (xh (1, d)) + v v (xv (0, d + 1)) + v h (xh (2, d 1)) + v v (xv (1, d)) +
+ v h (xh (d + 1, 0)) + v v (xv (d, 1))
v(x(0, d)) + v(x(1, d 1)) + + v(x(d, 0))

=
v(x(k, l)),

(34)

k+l=d

where use is made of xh (0, d + 1) = 0, xv (d + 1, 0) = 0. Consequently

lim

k and/or l

x(k, l) =

lim x(k, l) = 0.

k+l

This completes the proof of Theorem 1.

(35)

The following corollary is a special case of Theorem 1.

Corollary 1. System (1)(11) is globally asymptotically stable if there are positive-definite symmetric matrices Ph Rmm , Pv
Rnn , and positive-definite diagonal matrices Dh = diag(dh1 , . . . , dhm ), Dv = diag(dv1 , . . . , dvq ) such that

P AT PA
(D P)A

AT (D P)
> 0,
DP

(36)

where P = Ph Pv , D = Dh Dv .
Proof. With p = m, q = n, B = Bh Bv becomes an (m + n) (m + n) identity matrix. Therefore, Corollary 1 directly
follows from Theorem 1. 
Remark 1. The conditions (16) and (36) are linear matrix inequalities (LMIs) and, hence, computationally tractable [58,59].
4. Comparison and example
The following result was presented in [11].
Theorem 2. System (1)(11) is globally asymptotically stable if there are positive-definite diagonal matrices Dh
diag(dh1 , . . . , dhp ), Dv = diag(dv1 , . . . , dvq ) such that
D AT DA > 0,
h

(37)

where D = D D .
Remark 2. Pertaining to 1-D system, AgiziFahmys criterion (37) reduces to the 1-D result reported in [45] whereas the
criterion stated in Theorem 1 reduces to the 1-D result result reported in [60]; see also [61].
Remark 3. AgiziFahmys criterion (37) does not require the restriction (14), (15). By contrast, the present criterion (16)
requires the restriction (14), (15). However, as shown by an example presented in the sequel, in situation where the
condition (14), (15) holds, the present criterion (16) may be satisfied whereas AgiziFahmys criterion (37) may fail. In
other words, pertaining to the situation where (14), (15) holds, the present criterion (16) with the added degree of freedom
(free parameters) turns out to be a generalization and improvement over AgiziFahmys criterion (37).
In view of Schur complement, (36) is equivalent to fulfilling two conditions
P AT PA AT (D P)A = P AT DA > 0

(38)

D P > 0.

(39)

and

To satisfy both (38) and (39), it is required to satisfy

D > P > AT DA,

(40)

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V. Singh / Nonlinear Analysis: Real World Applications 14 (2013) 15031510

where M > N implies (M N) > 0. Clearly, to satisfy (40), (37) should necessarily be satisfied. This shows that the criteria
(16) and (37) are equivalent in situations where p = m and q = n. The following question arises: In situations where
p (m 1) and/or q (n 1), can the additional degree of freedom (i.e., the matrices Ph and Pv ) in the criterion (16)
result in some new 2-D stability conditions, i.e., conditions which are outside the scope of AgiziFahmys criterion (37) which
involves only the diagonal matrices Dh and Dv as the degree of freedom? As illustrated in the following example, the answer
to this question is in the affirmative.
Example 1. Consider a specific example of 2-D system with

A11
A21

A =

A12
A22

0.7621
0.0626
=
0.1117
0.01

2.3196
0.2738
0.3183
0.01

1.6889
0.0690
0.1123
1

0.01
0.01
,
0.01
0.1

(41)

where m = 3, n = 1. The matrix A11 in this example is adopted from the 1-D example presented in [61].
The criterion (37) necessarily requires
Dh Ah11 Dh A11 > 0,

(42)

where Dh = diag(dh1 , . . . , dhm ) is a positive-definite diagonal matrix. It can be verified that there does not exist a positivedefinite diagonal matrix Dh to satisfy (42) in this example. Thus AgiziFahmys criterion (37) fails to affirm global asymptotic
stability in this example.
In this example, p = 1, q = 1, Bh = [1, 0, 0]T , Bv = [1], so
B = Bh Bv =

1
0

0
0

0
0

0
1

(43)

Choose
0.726
0
0

0
16.267
6.15

P =

0
6.15 ,
12.941

Pv = [0.5] ,

(44)

so
0.726
0
h
v
P=P P =
0
0

0
16.267
6.15
0

0
6.15
12.941
0

0
0
.
0
0 .5

(45)

Let dh1 = 0.727, dv1 = 0.501, so

0.727
D=D D =
0
h

0
.
0.501

(46)

In view of the Schur complement, condition (16) is equivalent to

N = P AT PA AT (BD PB) D BT PB

(DBT BT P)A > 0.

(47)

Using (41), (43), (45), (47), one obtains

0.001
0

0
,
0.001

0.001
0
BD PB =
0
0

0
0
,
0
0.001

0.1645081
0.856827
N=
1.026952
0.0032498

0.856827
11.594278
3.3981448
0.0157513

D BT PB =

(48)

(49)

1.026952
3.3981448
10.030359
0.0745614

0.0032498
0.0157513
.
0.0745614
0.4907665

The matrix (50) is positive definite. Thus Theorem 1 affirms global asymptotic stability in this example.

(50)

V. Singh / Nonlinear Analysis: Real World Applications 14 (2013) 15031510

1509

5. Conclusion
This paper has presented a new criterion for the global asymptotic stability of a class of 2-D discrete systems described
by the Roesser model employing twos complement arithmetic. This global asymptotic stability result automatically implies
the absence of such undesirable phenomena as the zero-input limit cycles and overflow oscillations. The criterion, being in
the form of LMI, is computationally tractable. An earlier criterion due to El-Agizi and Fahmy [11] turns out to be a special
case of the present criterion. The effectiveness of the proposed criterion to obtain new twos complement overflow stability
conditions is shown with an example.
In a recent paper [51], a condition for the saturation overflow stability of (1) has been presented. The condition reported
in [51] is based on the idea of using a more general (symmetric or asymmetric) Lyapunov matrix P. Further work will be
required to ascertain whether or not this idea can be extended to obtain a twos complement overflow stability condition
that permits the use of a more general (symmetric or asymmetric) Lyapunov matrix.
Acknowledgments
The author is grateful for the constructive comments and suggestions of the Associate Editor and Reviewers.
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