Math.

Control Signals Systems (1993) 6: 1-9

9 1993 Springer-Verlag London Limited
Mathematics of Control,
Signals, and Systems
Checking Robust Nonsingularity is NP-Hard*
Sva t opl uk Poljak~- a nd Ji fi R o h n t
Abstract. We consider the following problem: given k + 1 square matrices with
rational entries, Ao, A1, ..., Ak, decide ifA 0 + rxA 1 + . . . + rkA k is nonsingular for
all possible choices of real numbers rx . . . . . rk in the interval [0, 1]. We show that
this question, which is closely related to the robust stability problem, is NP-hard.
The proof relies on the new concept of radius of nonsinoularity of a square matrix
and on the relationship between computing this radius and a graph-theoretic
problem.
Key wards. Robustness, NP-complete problems, Robust nonsingularity, Interval
matrices.
1. I n t r o d u c t i o n
I t is na t ur a l t o r equi r e t ha t a c ont r ol s ys t em per f or ms sat i sf act or i l y even u n d e r
u n k n o wn var i at i ons of s ys t em pa r a me t e r s i n a speci fi ed r ange, i.e., t ha t it is r o b u s t .
The mo s t i mp o r t a n t pe r f or ma nc e issue, na me l y r obus t s t a b i l i t y , has been ext ensi vel y
s t udi ed r ecent l y; we refer t o t he s ur vey pa pe r by Ma n s o u r [ M] f or a det ai l ed list of
references.
I n t hi s pa pe r we ar e c onc e r ne d wi t h t he pr obl e m of r obus t n o n s i n g u l a r i t y . To be
mo r e preci se, f or a n y t wo gi ven n x n mat r i ces A a nd A, wi t h A nonnegat i ve, we
i nt r oduc e t he r a d i u s o f n o n s i n g u l a r i t y d ( A , A) as t he mi n i mu m e > 0 f or whi ch t her e
exists a s i ngul ar ma t r i x A' sat i sf yi ng A - - ~A _< A' < A + eA. Th e c onc e pt of t he
r adi us of nons i ngul a r i t y is seemi ngl y cl osel y r el at ed t o Doyl e ' s " s t r uc t ur e d s i ngul ar
val ue" i n t r o d u c e d i n [ D2 ] as a t ool f or t he anal ysi s of f eedback s ys t ems wi t h
s t r uct ur ed uncer t ai nt i es, but we d o n o t pur s ue t hi s c onne c t i on i n t hi s paper . The
c onc e pt ma y al so pr ove useful i n t he sensi t i vi t y anal ysi s of l i near syst ems [-D1].
We n o w s umma r i z e t he ma i n results. The key r es ul t ( The or e m 2.1) gives a n
expl i ci t f or mul a f or d ( A , A). I n or de r t o s how t ha t c o mp u t i n g d ( A , A) is NP - h a r d ,
we cons i der t he speci al case of A = J (t he ma t r i x whos e all ent ri es ar e ones) a nd we
s how i n Th e o r e m 2.2 t ha t
1
d ( A , J ) - r ( A _ l ) ,
* Date received: July 3, 1990. Date revised: May 7, 1992.
~" Department of Applied Mathematics, Faculty of Mathematics and Physics, Charles University,
Malostransk6 n/tm. 25, 118 00 Praha 1, Czechoslovakia.
2 s. Po~ak and J. Rohn
wh e r e r(B) i s d e f i n e d b y
r(B) : max{zt Byl z, y ~ { - 1, 1}"}
(z t d e n o t e s t h e t r a n s p o s e o f z). Si nc e r i s a ma t r i x n o r m, we f i r s t gi ve s o me u p p e r
a n d l o we r b o u n d s o n it. T h e n , b y e s t a b l i s h i n g a c o n n e c t i o n b e t we e n r a n d t h e
m a x i m u m c u t i n a n a s s o c i a t e d g r a p h , we s h o w t h a t c o m p u t i n g r(B) i s N P - h a r d f o r
ma t r i c e s B wi t h r a t i o n a l e nt r i e s . As a c o n s e q u e n c e o f t h e a b o v e r e s u l t we s h o w t h a t
t h e p r o b l e m o f t e s t i n g s i n g u l a r i t y o f i n t e r v a l ma t r i c e s i s N P - c o mp l e t e . We r e c a l l
t h a t a n i n t e r v a l ma t r i x A I = {A' IA - A < A' < A + A} i s c a l l e d singular i f i t c o n -
t a i n s a s i n g u l a r ma t r i x ; i.e., A I i s s i n g u l a r i f a n d o n l y i f d(A, A) < 1.
Some Notation
We w o r k wi t h s q u a r e ma t r i c e s o f s i ze n n wi t h r e a l e nt r i e s . We d e n o t e b y Q = Q,
t h e n - d i me n s i o n a l d i s c r e t e c u b e Q = { - 1, 1}", a n d b y e t h e v e c t o r e = (1, . . . , 1) t.
F o r e a c h y ~ Q, we d e n o t e b y T r t h e d i a g o n a l ma t r i x wi t h t h e v e c t o r y a s i t s d i a g o n a l
(i.e., (Tr) u = yi a n d (Tr)~i = 0 f o r i # j ). F o r a n a r b i t r a r y n x n ma t r i x A we d e n o t e
po(A) = ma x { [ 2 l ] A x = 2 x f o r s o me x # 0, 2 r eal },
i.e., a n a n a l o g u e o f t h e s p e c t r a l r a d i u s , wi t h m a x i m u m b e i n g t a k e n o n l y o v e r r e a l
e i g e n v a l u e s ; we s e t g m( ~A = 0 i f n o r e a l e i g e n v a l u e exi st s. We us e t h e f o l l o wi n g ma t r i x
n o r ms : p(A) = x/po(AtA) ( t he s p e c t r a l n o r m) a n d s(A) = ~.i,j lao[.
2. Radius of Nonsingularity
F o r a n n x n ma t r i x A a n d a n o n n e g a t i v e n x n ma t r i x A, we de f i ne t h e radius of
nonsingularity b y
d(A, A) = mi n { e > 01A - eA < Z ' < A + eA f o r s o me s i n g u l a r A' }.
Ob v i o u s l y , d(A, A) = 0 i f a n d o n l y i f A i s s i n g u l a r . O n t h e o t h e r h a n d , i t c a n
s o me t i me s b e i nf i ni t e. As a n e x a mp l e , c o n s i d e r t h e ma t r i c e s
A = ( 0 1 ~ ) , A = ( ~ 00).
He r e e a c h A' wi t h A - ~A < A' < A + eA s at i s f i es d e t A' = - 1, h e n c e d(A, A) is
i nf i ni t e.
Si n c e t h e c a s e o f A s i n g u l a r i s t r i vi a l , we a s s u me A t o b e n o n s i n g u l a r i n w h a t
f ol l ows . I n t hi s c a s e , u s i n g t h e n o t a t i o n i n t r o d u c e d i n t h e p r e v i o u s s e c t i o n , we d e r i v e
t h e f o l l o wi n g e x p l i c i t f o r mu l a f o r d(A, A) ( we e m p l o y t h e c o n v e n t i o n ~ = 0o):
Theorem 2.1. Let A be nonsingular and A > O. Then we have
1
d(A, A) = max{po(A_l TrATz)l y ' z ~ Q}"
( 1 )
Checking Robust Nonsingularity is NP-Hard 3
Proof. Fi rst consi der the case of d(A, A) finite. For a gi ven e > 0, t he existence of
a si ngul ar mat r i x A' satisfying A - eA < A' < A + eA is equi val ent t o si ngul ari t y
of t he i nt erval mat r i x [A - cA, A + cA], which, accor di ng t o asser t i on (C3) of
The or e m 5.1 in [ R] , is t he case if and onl y if
po(A-1TrsATz) > 1
hol ds for s ome y, z ~ Q, i.e., if and onl y if
s. max { po(A-1TyA Tz)ly, z ~ Q} >_ 1.
Hence the mi ni mum val ue of s is gi ven by (1).
I f d(A, A) = ~ , t hen by t he same resul t in [ R] we have e.po(A-1TrATz) < 1 for
each y, z ~ Q and each ~ > 0, hence po(A -1Tr A T~) = 0 for each y, z ~ Q and (1) agai n
holds. 9
We show t hat comput i ng d(A, A) for a gi ven i nst ance A and A is NP- har d. For
this pur pose, we consi der t he special case A = J -- ee t, and we write d(A) i nst ead of
d(A, J). We have t he fol l owi ng result.
Theor em 2.2. Let A be nonsingular. Then
1
d ( A ) - r ( A_l ) , (2)
where r(A -1) = max {zt A-l y[z, y ~ Q}.
Proof. For A = ee' , we have A -1TyAT~ = A- l y z t for each y, z ~ Q. I f 2 is a nonzer o
real ei genval ue of A- l y z t, t hen f r om
A- l y z t x = 2x
we have zt x v~ O. Pr emul t i pl yi ng this equat i on by z t and di vi di ng by ztx gives
2 = z t A- l y. Thus po( A- l yz t) = [ztA-ly[. Then The or e m 2.1 gives d(A) = 1It (A-i ),
where
r(A -1) = max{l zt A- l yl ]z, y e Q} = max{zt A-Xyl z, y ~ Q}. 9
The ma ppi ng
A ~---~ r(A) = max {ztA y[z, y ~ Q}
is obvi ousl y a mat r i x nor m (i.e., r(A) > O, r(A) = 0 if and onl y if A = 0, r(A + B) <
r(A) + r(B) and r(2A) = [21r(A)). Let us not e t hat r(A) has been st udi ed by Br own
and Spencer [BS] (see al so [ ES] ) for t he case t hat A is a + 1-matrix. They pr oved
3/2
n < min{r(A)laij = ___ 1} < (1 + o(1))n 3/2 (3)
(i.e., t he mi ni mum over all __+ 1-mat ri ces A). We show in The or e m 2.4 t hat t he l ower
bound r emai ns val i d for any mat r i x A wi t h s(A) = n z. Since r(A) is a mat r i x nor m,
we have c l N( A) < r(A) < czN( A) for any ot her nor m N(A), where c 1 and cz are
4 S. PoOak and J. Rohn
some const ant s dependi ng on n only. We present explicit values of such const ant s
for t he nor ms p ( A ) and s( A) . Fur t her mor e, we show t hat comput i ng t he exact val ue
of r ( A) can be reduced t o t he max- cut pr obl em in a weighted graph, and, conversely,
max-cut can be reduced t o comput i ng r( A) . The f or mer reduct i on provi des us with
a possibility of comput i ng some bounds on r(A) from appr oxi mat e sol ut i ons of
max-cut , and t he l at t er implies t hat comput i ng r ( A) is NP- har d.
The next t heor em gives a rel at i on bet ween t he nor ms r and p. The pr oof is
st rai ght forward and is omitted.
The or e m 2.3.
a n d
F o r e v e r y n x n m a t r i x A we hav e
p ( A ) <_ r ( A) <_ n p ( A )
r ( A) ~ x/ / ~mi n( At A) .
In t he next t heor em we compar e r ( A) with the nor m s( A) .
Theorem 2.4. We h a v e
~
n-~/ 2s(A) < r ( A) <_ s( A) .
Proof. It is well known (see, e.g., t he pr oof of Theor em 15.2 of [ES], or [ PRS] ) t hat
E [ l e t y I ] > x/F2~/rc for r andom y e a. Clearly, E [ I z t y l l y e Q] = E [ l e t y l l y e Q] for
any fixed z e Q. Let a = (a 1 . . . . . an) t be a nonnegat i ve vector. Define vect ors a (~ ---
( a l , a i + i , . . . , an, ai , . . . , a i _ l ) t , i = 1 . . . . . n, i.e., each a (~ is obt ai ned by a cyclic
r ot at i on of a. Set a = ~i%l ai. We have, for a r andom y 9 Q,
l ~ E[ l y t a O, i] 1 [ " ]
. . . . E )-' lyta")[
E [ l y t a l ] n i=i n i=i
> - E yta(i) = E [ l e t y l ] >_ n-1/2a.
n 4=1
Hence, for ar bi t r ar y a e ~" (not necessarily nonnegat i ve) we have
E [ l y t a l ] > c n - 1 / 2 O t ,
where c = x / / ~ and, with A~ denot i ng t he i t h row of A,
E[ i =l ~' [A~y[] = i=1 ~ E [ I A , y [ ] > i=1 ~ on-i~2 j=l ~ 'a~ = cn- 1/ 2s( A) '
hence t here exists a y 9 Q such t hat
z t A y = ~ [Aiy[ > cn-1/ 2s(A),
i=1
where z is the sign vect or of A y .
The pr oof of the upper bound is trivial. 9
Checking Robust Nonsingularity is NP-Hard 5
Let us not e t hat t he ori gi nal purel y probabi l i st i c pr oof of t he l ower bound of (3)
f r om [BS] can be modi fi ed t o an al gori t hmi c one. Thus, for a given ___ 1-matrix
A, we can const r uct (in pol ynomi al time) a pai r y, z ~ Q of vect ors such t hat
z t A y > cn 3/2 where c is t he above const ant .
I n the rest of this sect i on we st udy a rel at i on bet ween r ( A) and t he max- cut
probl em. Again, such a rel at i on is not qui t e new since t he max- cut pr obl em has
al ready been used for r ef or mul at i on of quadr at i c opt i mi zat i on probl ems of t ype
x t A x -t- ct x; see, e.g., [B].
The Max- Cut Probl em. Let G = (N, E) be a gr aph and let c: E --* R be a weight
funct i on on edges. The ma x i mu m cut mc(G) in t he gr aph G wi t h respect t o c is defined
as
mc(G) = max c( 6S) ,
S~N
where 6S is t he set of edges with one endvert ex in S and the ot her one in N \ S , and
c ( F) = ~ f ~ r c ( f ) for a subset F c E.
I n or der t o reduce comput i ng r ( A) t o t he max- cut probl em, we define t he bi part i t e
gr aph Ba of a mat r i x A as t he wei ght ed bi part i t e gr aph BA = (Yt3 Z) where Y and
Z are t wo copies of {1, . . . , n} and E = {ij[a o # 0) . The weight of an edge ij is aij.
Theorem 2.5. We have r ( A) = 2mc(Ba) - et Ae.
Proof. Gi ven y, z ~ Q, define t he set
S = { i ~ Y [ y i = 1 } t 3 { j ~ Z l z j = - l } .
We have
Y t Az = .~. aiJyizJ = E aij - Y'. ai~ = 2 E ai~ - .~. ao = 2c( 6S) - e t Ae ,
t,3 Yi =Zj Yi 5~ Zj yi =zj l , J
and t aki ng t he maxi mum on bot h sides gives the result.
The max- cut pr obl em is a known NP- ha r d pr obl em (see I-G J]). Since it is difficult
t o find an exact solution, we may use some heuristics. We next survey some of them.
Lower Bounds on Max-Cut.
(i) [ PT] If G = (N, E) is a weighted connect ed graph, t hen
mc(G) > 89 + t he mi ni mum weight of a spanni ng tree.
A cut 6S satisfying t he above i nequal i t y can be f ound in O(n 3) time.
(ii) Li eber her r and Specker have implicitly shown in [LS] t he bound
n
mc(G) > c( E) 2n - - 1"
I t is easy t o establish t he above bound by a probabi l i st i c met hod. The meri t
of [ LS] is a pol ynomi al - t i me al gor i t hm achieving it.
6 S, Poljak and J. Rohn
Uppe r Bounds on Max- Cut . An upper bound on max- cut was given by Moha r and
Pol j ak [-MP]:
n
mc(G) < ~ s . . . .
where ~'max is the maxi mum eigenvalue of the Laplacian matrix L G = (lij) given by
f
- c i j if i j ~E, i # j ,
l o= 0 if i j ~E, i # j ,
2kCik if i =j .
Fut her i mpr ovement of t he eigenvalue bound on t he max-cut pr obl em is given
by Del or me and Pol j ak [ DP] . Anot her way t o obt ai n some bounds on t he max-cut
is via an associ at ed system of linear inequalities; see [ DL] for a survey.
We have shown t hat comput i ng r(A) can be reduced t o the max-cut . Now we
present an opposi t e reduct i on, in or der t o establish t hat comput i ng r(A) is NP- har d.
We recall t hat t he cardinaIity version of the max-cut , i.e., when all t he weights c o are
0 or 1, is al ready NP- ha r d (see pr obl em GT25, p. 196, of [ GJ] ) . The cardi nal i t y
versi on is somet i mes called t he maximum bipartite subgraph problem.
Th e o r e m 2.6. Computing r(A) is NP-hard for a matrix A with rational entries.
P r o o ~ Let G = (N, E) be a graph. Define a mat r i x A by
if i j aE, i r
if i j 6 E, i e j ,
if i =j ,
where M is a sufficiently large i nt eger (M > 21El is sufficient). Let r(A) = zt Ay for
some z, y ~ Q. It is easy t o see t hat z = y because of t he choice of M. For each y ~ Q,
with S -= {i[y~ = 1}, we have
yt Ay = ~. aoyiy j = ~ (_ 89 i _ 35)2 _ 2)
t , J LJ
= --89 .~. ai~(Yl -- 35) 2 + .~. ai s = Mn + 413S1 - 21El,
l~J t , J
hence r(A) = Mn + 4mc(G) - 21El. Thus, an existence of a pol ynomi al -t i me algo-
r i t hm t o comput e r(A) woul d yield a pol ynomi al -t i me al gor i t hm t o comput e mc(G).
Since the l at t er is an NP- ha r d probl em, comput i ng r(A) is NP- ha r d as well. 9
An i mmedi at e corol l ary is the st at ement f or mul at ed in t he abstract.
Corol l ary 2.7. The following problem is NP-hard.
Instance: k + 1 square matrices having rational entries, Ao, A1, . . . , Ak .
Quest i on: Is the matrix A o + rl A1 + "" + rkAk nonsingular f or all possible choices
of real numbers rl, . . . , rk in the interval I-0, 1]?
Checking Robust Nonsingularity is NP-Hard 7
Proof. We show t hat the pr obl em of comput i ng t he radi us of nonsi ngul ari t y can
be r educed t o it. Assume t hat we want t o decide whet her t he radi us of nonsi ngul ari t y
of a given (rational) mat r i x A is at least a given e > 0. Then consi der Ao = A,
k = 2n 2, and define t he mat r i x Aij whose /jth ent r y is e and all ot her entries 0,
and A}j = - Ai j for i, j = 1 . . . . , n. Clearly, t he radi us of nonsi ngul ari t y of A is
at least e if and onl y if t he pr obl em f or mul at ed in t he cor ol l ar y has a positive
answer. 9
Let us r emar k t hat t he pr obl em f or mul at ed in Cor ol l ar y 2.7 is al gori t hmi cal l y
deci dabl e by t he wor k of Tar ski I T] . However, we do not know whet her or not t he
pr obl em bel ongs t o t he class NP (t hough we conj ect ure t hat t he answer is yes). The
difficulty arises f r om the fact t hat A o + r l A 1 + " " + rkA k may be singular onl y for
(r 1 . . . . , rk) i rrat i onal , as shown in t he following example. Let k = 1, and
Then det~A o + t A~) = t 2 + 3t + 1, and Ao + t A1 is singular if and onl y if t =
( - 3 + ,,/5)/2.
Thus, t he si ngul ari t y of A o + f l a x + .." + rkA k cannot be certified by a di rect
check for concret e values of (r 1 . . . . . rk). The met hod used by Tar ski is indirect, based
on t he St ur m t heor em and its general i zat i ons for mor e variables. However , his
certification requires creat i ng a huge family of auxi l i ary pol ynomi al s, and hence it
is not pol ynomi al - t i me bounded in t he size of t he i nput data.
Finally, we show t hat a rel at ed pr obl e m of singularity of i nt erval mat ri ces is
NP- compl et e. In cont r ast t o Cor ol l ar y 2.7, we are able t o establish t he member shi p
in t he class NP. A square i nt erval mat r i x A 1 = {A'I_A < A' < .,t} is called s i ngul ar
if it cont ai ns a singular matrix. Consi der t he decision probl em:
I ns t anc e : Squar e i nt erval mat r i x A I, where bot h A and .4 are r at i onal matrices.
Ques t i on: Is A I singular?
The or e m 2. 8. The recognition problem of singularity of interval matrices is NP-
complete.
Proof. It is easy t o see t hat comput i ng r ( A) can be r educed t o t he pr obl em whet her
an i nt erval mat r i x is singular, and hence t he pr obl em is NP- har d. It remai ns t o show
t hat it bel ongs t o t he class NP, t he class of nondet er mi ni st i c- pol ynomi al - t i me
probl ems. We cl ai m t hat if an i nt erval mat r i x A x = {A'I_A < A' < .4} is singular,
t hen t here exists a singular mat r i x A' in t he i nt erval such t hat all t he entries of A'
are r at i onal number s whose sizes are bounded by a pol ynomi al in t he sizes of the
entries of _A and .4. Such a mat r i x A' can be "guessed" (i.e., generat ed by a non-
det ermi ni st i c algorithm), and t hen it can be checked deterministically in pol ynomi al
time t hat A' is singular, since Gaussi an el i mi nat i on is known to be pol ynomi al time
not onl y in t he number of ari t hmet i c operat i ons, but also t hat t he sizes of t he
number s t hat occur duri ng t he el i mi nat i on r emai n pol ynomi al l y bounded. (A de-
tailed analysis can be f ound in IS].) Thi s gives the requi red nondet ermi ni st i c-
pol ynomi al - t i me al gori t hm.
8 s. PoUak and J. Rohn
The val i di t y of t he cl ai m follows f r om a resul t of the second aut hor (see par t C7
of The or e m 5.1 of I-R]), who pr oved t hat if A I is singular, t hen t here exists a si ngul ar
mat r i x A = (A~) ~ A t wi t h t he fol l owi ng pr oper t y: t here is a pai r (k, m) of subscri pt s
such t hat , for every ( i , j ) v~ (k, m), ent r y A~j satisfies ei t her A~i = _A~j or Ai j = -4i~.
However , since A is singular, t he except i onal ent r y Ak, . can be expressed as a l i near
combi nat i on of subdet er mi nant s of A usi ng the Lapl ace expansi on. Hence the size
of all ent ri es of A is bounded by a pol ynomi al in t he sizes of entries of_A and A. Thi s
pr oves the claim. 9
3. Concluding Comment s
We concl ude by ment i oni ng t wo possi bl e appl i cat i ons of t he radi us of non-
singularity.
Da t a uncer t ai nt y. Assume t hat we have obt ai ned entries of a mat r i x A = (a~j) as a
resul t of an exper i ment where the dat a were measur ed by a device ensuri ng some
(uniform) preci si on 6. Thi s means t hat it is guar ant eed t hat t he ( unknown) act ual
val ue is in t he i nt erval [ a i i - 6, a 0 + 6]. Now, we have to decide whet her A is
sui t abl e for furt her numer i cal processi ng, or whet her t he exper i ment shoul d be
r epeat ed wi t h bet t er precision, whi ch ma y be mor e costly. Our decision will depend
on whet her 6 > d ( A) (a new exper i ment is necessary) or 6 < d ( A) (the dat a are
sufficiently precise).
Ro u n d i n g in f i x e d - p o i n t ar i t hmet i c. Assume t hat a mat r i x A wi t h possi bl y i rrat i o-
nal ent ri es is given. Such a si t uat i on ma y occur when t he dat a are deri ved formal l y,
e.g., v / 2 ma y arise as a distance. I f we i nt end t o appl y a numer i cal al gor i t hm, we
have t o r ound off each ent r y t o some numbe r p of deci mal digits. Let .4 denot e t he
mat r i x of r ounded entries, called a r e pr e s e nt at i on mat r i x . I f I[A - -411 > d(.~), this
i ndi cat es a pot ent i al l y danger ous si t uat i on, since the presence of a si ngul ar mat r i x
wi t hi n the preci si on of Ama y mean t hat Adoes not reflect well the pr oper t i es of A.
Acknowledgment. The aut hor s t hank t wo a nonymous referees for val uabl e com-
ment s and helpful suggest i ons t o i mpr ove t he t ext of t he paper.
References
[B] F. Barahona, A solvable case of quadratic 0-1 programming, Discrete Appl. Math., 13 (1986),
24-36.
[BS] T. A. Brown and J. Spencer, Minimization of _+ 1-matrices under line shifts, Colloq. Math.
(Poland), 23 (1971), 165-171.
[D1] A. Deif, Sensitivity Analysis in Linear Systems, Springer-Verlag, Berlin, 1986.
[DP] Ch. Delorme and S. Poljak, Laplacian Eigenvalues and the Maximum Cut Problem, Technical
Report 599, L.R.I., Universit6 Paris-Sud, 1990.
[DL] M. Deza and M. Laurent, Facets for the cut cone, I, Math. Programming, 56 (to appear).
[-D2] J.C. Doyle, Analysis of feedback systems with structured uncertainties, Proc. IEEE, 129 (1982),
242-250.
Checking Robust Nonsingularity is NP-Hard 9
[ES]
[G J]
[LS]
[M]
[ MP]
[PRS]
[PT]
[R]
IS]
[T]
P. Erdrs and J. Spencer, Probabilistic Methods in Combinatorics, Akademiai Kiad6, Budapest,
1974.
M. R. Garey and D. S. Johnson, Computers and Intractability: A Guide to the Theory of
NP-Completeness, Freeman, San Francisco, 1979.
K. J. Lieberherr and E. Specker, Complexity of partial satisfaction, J. Assoc.: Comput. Mach., 28
(1981), 411-421.
M. Mansour, Robust stability of interval matrices, Proceedings of the 28th Conference on Decision
and Control, Tampa, FL, 1989, pp. 46-51.
B. Mohar and S. Poljak, Eigenvalues and the max-cut problem, Czech. Math. J., 115 (1990),
343-352.
S. Poljak, V. Rrdl, and J. Spencer, Tournament ranking with expected profit in polynomial time,
SI AM J. Discrete Math., 1 (1988), 372-376.
S. Poljak and D. Turzik, A polynomial time heuristic for certain subgraph optimization problems
with a guaranteed worst case bound, Discrete Math., 58 (1986), 99-104.
J. Rohn, Systems of linear interval equations, Linear Algebra Appl., 126 (1989), 39-78.
A. Schrijver, Theory of Integer and Linear Programming, Wiley, Chichester, t986.
A. Tarski, A Decision Method for Elementary Algebra and Geometry, University of California
Press, Berkeley, CA, 1951.