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Outline
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Hadamard Product
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Kronecker Product
[A]1,1 B [A]1,n B
..
..
..
.
AB,
.
.
.
[A]m,1 B
[A]m,n B
Basic Properties:
A (B + C) = (A B) + (A C).
(A + B) C = (A C) + (B C).
(A) B = A (B) = (A B).
(A B) C = A (B C).
(A B) = A B , (A B)T = AT BT , and (A B) = A B .
There exist permutation matrices P Fmpmp , Q Fnqnq such that
(A B) = P (B A) Q .
Andre Tkacenko (JPL)
4 / 13
Kronecker Product
5 / 13
Vectorization
a1
.
vec(A) ,
..
an
Equivalently, we have
[vec(A)]k = [A]((k1) mod m)+1,b k1 c+1 , 1 k mn .
m
6 / 13
Vectorization
(Iq AB) vec(C) = CT BT Im vec(A) .
tr A B = (vec(A)) (vec(B)) .
In other words, for thestandard inner product hx, yi = y x for vectors
and hX, Yi = tr Y X for matrices, we have
hX, Yi = hvec(X) , vec(Y)i .
Andre Tkacenko (JPL)
7 / 13
Vectorization
AXA X + Q = 0 .
Here, all matrices are n n and the stability for either the continuous or discrete-time
systems can be determined by the value of X. Specifically, in either case, if there exist
X 0 and Q 0 such that the corresponding Lyapunov equation holds, then the
linear system evolving according to the state matrix A is globally asymptotically stable.
The Lyapunov equation can be solved in closed form using the vec operator.
Specifically, we have
vec(X) = ((In A) + (A In ))1 vec(Q) ,
(continuous-time case)
(discrete-time case)
8 / 13
Introduction
9 / 13
Introduction
S , C B A1 B ,
v2
C
|
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} B
{z
} | {z }
|
h
|
v1
v2
{z
}|
z
"
Im
0mn
B A1
In
#{ "
|
Andre Tkacenko (JPL)
|
{z
0mn
0nm
S
{z
Y
# z"
}|
Im
A1 B
0nm
In
#{ "
v1
v2
| {z }
{z
u
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10 / 13
Introduction
11 / 13
0.
Suppose X Fmn and > 0, and we would like to enforce the matrix norm constraint
q
||X||2 = max X X .
As we have max X X 2 if and only if X X 2 In , this leads to the LMI given
below:
"
#
Im
X
0.
X 2 In
Andre Tkacenko (JPL)
12 / 13
X=
A X + XA XBR1 B X + Q = 0 ,
1
+ Q A XB R + B XB
B XA .
A XA
Here, A Fmm , B Fmn , Q Hm , and R Hn are the problem data and X Hm is the
variable to be solved. Typically we assume R 0 and we seek a solution for which X 0. To
find such a solution, it is common to relax an equality to an inequality. For the DARE, one such
relaxation is given below:
1
X A XA + Q A XB R + B XB
B XA , X 0 .
This can be shown to lead to the following LMI:
R + B XB
B XA
A XB
A XA + Q X
0mn
0mm
0nm
0mm 0 .
X
April 12, 2012
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