STABILITY CRITERIA FOR A CLASS OF NEUTRAL SYSTEMS VIA THE LMI APPROACH
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1 Asan Jounal of Conol, Vol. 6, No., pp. 3-9, Mach 00 3 Bef Pape SABILIY CRIERIA FOR A CLASS OF NEURAL SYSEMS VIA HE LMI APPROACH Chang-Hua Len and Jen-De Chen ABSRAC In hs pape, he asypoc sably fo a class of neual syses wh ulple cee and bued e delays s nvesgaed. he Lyapunov sably heoy s appled o guaanee he sably of he syses. he lnea ax neualy (LMI appoach s used o pove ou esuls. By eans of soe aheacal analyss, he pesened condons ae poved o be less consevave and flexble han soe ecen epos. A nuecal exaple s gven o llusae he use of ou esuls. KeyWo: Neual syse, asypoc sably, LMI, cee delay, bued delay. I. INRODUCION Ove he pas few decades, he sably poble fo dynac syses wh ulple e delays has been suded. Syses wh ulple e delays ae ofen encouneed n vaous physcal phenoena, such as he wo-body poble n elecodynacs [5 cance cheoheapy [ coecal boles [ lage scale syses [9 and uban affc [9]. Moeove, e delays ae feuenly a souce of nsably and a souce of oscllaon geneaon n any syses []. In ecen yeas, any sably sudes have concenaed on syses wh cee delays [,-3,6-7]. Ohe sably sudes consdeed syses wh bued (o connuous and xed (boh bued and cee delays [-3,7-8,5]. In hs pape, we consde a neual syse wh ulple cee and bued e delays: Manuscp eceved Januay 8, 003; evsed June 9, 003; acceped Augus 6, 003. Chang-Hua Len s wh he Depaen of Eleccal Engneeng, I-Shou Unvesy, Kaohsung, awan 80, R.O.C. Je-De Chen s wh he Insue of Engneeng Scence and echnology, Naonal Kaohsung Fs Unvesy of Scence and echnology, Kaohsung, awan 8, R.O.C. and he Depaen of Eleconc Engneeng, Yung-a Insue of echnology & Coece, Pngung, awan 909, R.O.C. he eseach was suppoed by he Naonal Scence Councl of awan, R.O.C. unde gan NSC 90-3-E x ( = Ax ( [ Bx ( h Cx ( h =, (a D x( s 0 x ( = φ(, [ H,0], (b whee x R n ; x s he sae a e defned by x (s := x( s, s [H, 0 H = ax{ h, } 0, wh H s 0 s x : = sup x( s ; h and,, ae nonnegave consans, whch epesen cee and bued delays, especvely. he aces A, B, C, D R n n, and ae known, and he nal veco φ C0. Dependng on whehe hey conan he sze of he cee delays, sably cea fo neual syses wh ulple e delays can be classfed no wo caegoes, naely, cee-delay-ndependen cea [3-,8,,6] and cee-delay-dependen cea [-,7-8,6,7]. In pas eseach on ulple e delays, he esuls wee ehe all delay-dependen [-3,7-8,6,7] o all delay-ndependen [3,8,,6] (.e., all cee delays wee ehe bounded n soe posve nevals o ndependen. Hence, a ceon ha was dependen fo soe delays and ndependen fo ohe delays would be oe suable fo paccal syse sably analyss []. In hs pape, we exend he esuls n [] o a neual syse wh ulple bued e delays, and he obaned esuls ae boh flexble and less consevave han ou pas esuls based on aheacal analyss [,3,7]. A nuecal exaple s gven o show ha ou esuls ae useful n hs neual syses wh ulple cee and bued e delays.
2 Asan Jounal of Conol, Vol. 6, No., Mach 00 II. PROBLEM FORMULAION AND SABILIY CONDIIONS By eans of soe odel ansfoaons, syse (a can be odeled as: d [ x ( Cx ( h D ( s xs ( ] d [ x( s ] = ( A B D x( B ( d = L d h L L L Bx ( h D xs (,, L, L whee L, L. Whou loss of genealy, we can se L = : = {,,, }, L = : = {,,, }, and syse (a wh he odel ansfoaon ( can be wen as d [ x ( B xs ( Cx ( h d h = = D ( s x( s ] = = = = D x( s, = = ( A B D x( B x( h whee 0 and 0. n Lea. Fo any vecos x, y R and R > 0, we have x y x Rx y R y. (3 Now we wll pesen a delay-dependen ceon fo asypoc sably of syse (. heoe. Syse ( s asypocally sable povded ha hee exs,, such ha he ax  = A B D = = e e= De s Huwz, < ρ ( h B Ck = k=, and ha fo soe posve defne syec aces P, S, S k, S 3e, S, S 5l, W (,, W (, k, W 3 (, e, W (l,, W 5 (l, k, and W 6 (l, e,, k, e, \, and l \, such ha he followng LMI condon hol: Z Z Ω= < 0, Z Z 3 whee [ ] Z Z Z Z Z Z Z Z = , ( [ ] Z = dag Z, Z, Z, Z, Z, Z, Z, Z A P PA h S S S ˆ ˆ = = = = 3 ( S h W(, W(, = 3 5 = W5(, W6(, W (, [ S h W (, Z = [ h Aˆ PB h Aˆ PB Aˆ PC Aˆ PC ˆ ˆ A PD A PD PB PB PD PD Z = dag[ S,, S, S,, S, S3,, S, S,, S, S,, S 3 ( 5( 5 Z = [ F ], F = h B PB, 3 ( Z = dag[ Y ], Y = W (,, 33 ( Z = [ F ], F = B PC ( Z = dag[ Y ], Y = W (, ( Z = [ F ], F = B PD 5 3 ( 3 Z = dag[ Y ], Y = W (, 55 3 ( 3 3 Z = [ F ], F = h D PB 6 ( Z = dag[ Y ], Y = W (, 66 ( Z = [ F ], F = D PC 7 5 ( 5 Z = dag[ Y ], Y = W (, 77 5 ( 5 5 Z = [ F ], F = D PD 8 6 ( 6 Z = dag[ Y ], Y = W (, 88 6 ( 6 6 Poof. Syse ( can be ewen n he followng fo n vew of (3: d [ x ( B xs ( Cx ( h d = h = = D ( s x( s ] = Ax ˆ ( B x ( h D x ( s. = = (5
3 C.H. Len and J.D. Chen: Sably Cea fo a Class of Neual Syses va he LMI Appoach 5 By he schu copleen of [ condon ( s euvalen o = ψ = Aˆ P PAˆ h ( S Aˆ PB S B PAˆ ( S Aˆ PC S C PAˆ = = ˆ ( S ˆ 3 A PDS3 D PA ( S PB S B P = = h W B PB W B PB ( (, (, ( W(, B PC W(, C PB = ( W3(, B PDW3(, D PB = 5 5 = ( S PD S D P h W D PB W B PD = ( (, (, ( W5(, D PC W5(, C PD = ( W6(, D PD W6(, D PD = <0. (6 he funconal gven by V( x = V( x V( x V3( x V( x V5( x V ( x V ( x, whee 6 7 V ( x = G ( x PG( x, = h = = D ( s x( s, = Gx ( x ( B xs ( Cx ( h = h = (7 (8 V ( x ( s h x ( s S x ( s, (9 3( = ( ( h = ( s x ( s S3x( s, = V x x s S x s (0 = h = V ( x x ( s K x( s, = (, K S h B PB W B PB B PC W (, C PB B PD W3 D PB (,, 5 = 5 = V ( x ( s x ( s K x( s, 5 = 5 (, K S h D PB W B PD D PC W (, C PD 5 D PDW6 D PD (,, 6 = h = V ( x [ ( s h x ( s W (, x( s h ( s x ( s W3(, x( s, ( ( x ( s W (, ( x s (3 7 = h = V ( x [ ( s h x ( s W (, x( s h x ( s W (, x( s ( 5 ( s x ( s W6 (, x( s s a legae Lyapunov funconal canddae [0]. By Lea, he e devave of V( x, 7, along he aecoes of syse (5 s gven by ( (( ˆ x x A P PAˆ x( [ h x ( Aˆ PB S B PAx ˆ ( = h = = x ( s S x( s ] [ x ( Aˆ PC S C PAx ˆ ( x ( h S x( h ] ˆ [ x ( A PD ˆ S3 D PAx( ( s x ( s S x( s ] 3
4 6 Asan Jounal of Conol, Vol. 6, No., Mach 00 [ x ( h S x ( h x ( PBS B Px ( ] = [ h x ( h B PBW (, B PBx ( h = h x ( s W (, ( x s ] [ x ( h B PC W (, C PBx( h = x ( h W (, x( h ] = [ x ( h B PD W3(, D PBx( h ( s x ( s W (, x( s ] = 3 [ x ( s S x( s x ( PD S D Px( ] 5 5 [ ( (, ( = h x s D PB W B PD x s h x ( s W (, ( x s ] [ ( 5 (, ( = x s D PC W C PD x s x ( h W (, x( h ] 5 [ x ( s D PDW6 (, D PDx( s = ( s x ( s W (, x( s = h = V ( x [ h x ( S x ( x ( s S x ( s ( x x (( S S x( 3 = 3 = = x ( h S x( h = = 6 ( s x ( s S x( s, = = ( x [ x ( K x( x ( h K x( h 5 = 5 5 = V ( x [ x ( K x ( x ( s K x ( s 6 = = 3 ( x [ h x ( W (, x( x ( W (, x( x ( W3(, x(] x h = [ ( s W (, x( s x ( h W (, x( h ( s x ( s W (, x( s 7 = = x ( W5(, x( x ( W6 (, x(] h = x h W5 x h 6 V ( x [ h x ( W (, x( [ x ( s W (, x( s ( (, ( ( s x ( s W (, x( s ]. he devave of V( x s gven by ( x = ( x ( x 3( x ( x 5( x 6( x 7( x (5 x ( ψ x(. In vew of [3] and [ he ceon ρ( < h B C D = = = guaanees ha he opeao = h = = D ( s x( s = Gx ( x ( B xs ( Cx ( h s sable. hus, by heoe 9.8. n [0] along wh (6- (5, we conclude ha syses ( and (5 ae boh asypocally sable. By sply seng = 0 and = 0, n heoe, we can oban he followng cee-delay-ndependen ceon. Coollay. Syse ( s asypocally sable fo any delays h R povded ha A s Huwz, ρ( C <, = and ˆP ha fo soe posve defne syec aces, S ˆ, S ˆ, S ˆ 5, W ˆ (,, and W ˆ 5(,, and such ha he followng LMI condon hol: 3
5 C.H. Len and J.D. Chen: Sably Cea fo a Class of Neual Syses va he LMI Appoach 7 whee Zˆ Zˆ Zˆ 3 Zˆ ˆ Z ˆ Z 0 0 0, ˆ ˆ < Z3 0 Z33 0 ˆ Z ˆ 0 0 Z = ˆ ˆ ˆ 5 = ( Wˆ ˆ (, W5(, Zˆ A Pˆ PA ˆ [ S S S ˆ ˆ Z ˆ ˆ ˆ = [ A PC A PC PB PB PD ˆ PD ˆ Zˆ = dag[ Sˆ,, Sˆ, Sˆ,, Sˆ, Sˆ,, Sˆ 5 5 Zˆ = [ Fˆ ], Fˆ = B PC ˆ, 3 Zˆ = dag[ Wˆ (, ], Zˆ = [ Fˆ ], 33 5 Fˆ D PC ˆ, Zˆ dag[ Wˆ (, ]. 5 = = 5 (6 Reak. Coollay concdes wh heoe n [3]. heoe n [3] can be seen as a specal case of ou esuls. By sply seng = and = 0 n heoe, he followng cee-delay-dependen ceon fo asypoc sably of syse ( can be obaned. Coollay. Syse ( s asypocally sable povded ha A A B s Huwz, ha he condon = = = ρ[ ( h B C ] <, and ha fo soe posve defne syec aces P, S, S, S 5, W (,, and W 5(,, and such ha he followng LMI condon hol: whee Z Z Z 3 Z Z Z 0 0 0, < Z 3 0 Z 33 0 Z 0 0 Z = [ 5 = ( h W (, W 5(, Z A P PA h S S S (7 Z = [ h A PB h A PB A PC A PC PD PD Z = dag[ S,, S, S,, S, S,, S 5 5 Z = [ F ], F = h D PB, 3 Z = dag[ W (, ], Z = [ F ], 33 5 F D PC, Z dag[ W (, ]. 5 = = 5 Reak. By seng soe aces as S 5 = ( D P ε I, W (, = ( B PD ε I, W (, = ( C PD ε I, 5 whee ε > 0, we have = S A PC S C PA h S 5 PD S 5 D P h ( h ( W (, D PB W (, B PD W 5(, D PC W 5(, C PD ]} x( x ({ A P PA [ h ( S A PB S B PA ( x ( { A P PA [ h ( S A PB S B PA = S A PC S C PA h ( D P ε I h h ( B PD ε I h ( C PD ε I]} x(. Noe ha he paaee ε > 0 can be chosen so as o be suffcenly sall. By he schu copleen of [] and = h, ou Coollay s less consevave han he esul n [7]. Reak 3. Noe ha =, =, and ha heoe concdes wh he heoe n [3]. heoe n [3] can be seen as a specal case of ou esuls. By he schu copleen gven n [] wh = = =, we can fnd ha Coollay 3 s less consevave han he esul n [] unde condons sla o hose n Reak. Reak. Noe ha D = 0, = 0,, and ou heoe concdes wh heoe n []. Hence, he esul gven n [] can be seen as a specal case of ou esuls.
6 8 Asan Jounal of Conol, Vol. 6, No., Mach 00 III. ILLUSRAIVE EXAMPLE Consde he followng neual syse wh ulple cee and bued e delays: 0. x ( = ( ( x 0 x ( ( x h x x ( h xs ( xs (, ( whee h 0 s any fne consan. In vew of ( and (8, we have h = 0.55, h = h, = 0., and = 0.. By heoe wh = and = 0, we have ρ[h B C C ] = 0.79<, and LMI ( s sasfed (even n he case whou bued delays. We copae ou esuls wh soe pevous ones n able. IV. CONCLUSION In hs pape, he Lyapunov heoy and LMI appoach have been appled o guaanee he asypoc sably of a class of neual syses. Soe ceedelay-ndependen and cee-delay-dependen cea have been poposed. he obaned esuls pesened n hs pape have been shown o be less consevave han hose pesened n eale epos. he echnues used fo paaezng ansfoaon n [8] and [] wll o be suded n fuue wok. C 0 NOAIONS = Se of all connuous funcons n fo [ H,0] o R. A (esp. x = anspose of ax A (esp., veco x. x (esp. A = Eucldean (esp., Specal no of veco x (esp., ax A. P > 0(esp. P< 0 = P s a posve (esp., negave defne syec ax. ρ [ A] = Specal adus of eal ax A. ( esp. \ = {,,, } (esp.,,,, }, whee. [ A ] n = [A A n A A n A A n ]. dag[ A ] n = dag[a,, A n, A,, A n,, A,, A n ]. REFERENCES. Boyd, S., L. El Ghaou, E. Feon, and V. Balakshnan, Lnea Max Ineuales n Syse and Conol heoy, SIAM, Phladelpha (99.. Chen, J. D., C. H. Len, K. K. Fan, and J. S. Cheng, Delay-dependen Sably Ceon fo Neual e-delays Syses, Elecon. Le., Vol. 36, pp ( Chen, J. D., C. H. Len, K. K. Fan, and J. H. Chou, Cea fo Asypoc Sably of a Class of Neual ssyses va a LMI Appoach, IEE Poc. Con. heoy. Appl., Vol. 8, pp. -7 (00.. Chen, J. D., C. H. Len, and J. H. Chou, Flexble Sably Cea of a Class of Neual Syses wh Mulple e Delays va LMI Appoach, J. Chnese Ins. Eng., Vol. 5, pp ( Dve, R. D., Odnay and Delay Dffeenal Euaons, Spnge-Velag, New Yok ( Dugad, L., and E. I. Vees, Sably and Conol of e-delay Syses, Spnge-Velag, London ( Fan, K. K., C. H. Len, and J. G. Hseh, Asypoc Sably fo a Class of Neual Syses wh Mulple e Delays, J. Op. heoy Appl., Vol., pp ( Fdan, E., New Lyapunov-Kasovsk Funconals fo Sably of Lnea Readed and Neual ype Syses, Sys. Con. Le., Vol. 3, pp ( Goeck, H., S. Fuksa, P. Gabowsk, and A. Koyowsk, Analuss and Synhess of e Delay Syses, John Wley & Sons, Chchese (989. able. Copason ou esuls wh hose pesened n ecen epos. Dscee-delay-ndependen esuls (Independen of e delay h Dscee-delay-dependen esuls (Uppe boun of e delay h Cea Wh bued delays Whou bued delays Wh bued delays Whou bued delays Ou esul [3] [8] [6] [] [3] [7] [8] [8] [7] Any h 0 Whou any LMI soluons (cea canno be sasfed Algebac condons canno be sasfed
7 C.H. Len and J.D. Chen: Sably Cea fo a Class of Neual Syses va he LMI Appoach 9 0. Hale, J. K. and S. M. Veduyn Lunel, Inoducon o Funconal Dffeenal Euaons, Spnge-Velag, New Yok (993.. Han, Q. L., Robus Sably of Uncean Delay-dffeenal Syses of Neual ype, Auoaca, Vol. 38, pp (00.. Hu, G. D. and G. Da. Hu, Sple Cea fo Sably of Neual Syses wh Mulple Delays, In. J. Sys. Sc., Vol. 8, pp ( Ivanescu, D., J. M. Don, L. Dugad, and S. I. Nculescu, Dynacal Copensaon fo e-delay Syses: An LMI Appoach, In. J. Robus Nonln. Con., Vol. 0, pp (000.. Kolanovsk, V. B. and A. Myshks, Inoducon o he heoy and Applcaons of Funconal Dffeenal Euaons, Kluwe Acadec Publshs, Dodech ( Kolanovsk, V. B. and J. P. Rchad, Sably of Soe Lnea Syses wh Delays, IEEE ans. Auoa. Con., Vol., pp ( Len, C. H., K. W. Yu, and J. G. Hseh, Sably Condons fo a Class of Neual Syses wh Mulple e Delays, J. Mah. Anal. Appl., Vol. 5, pp. 0-7 ( Pak, J. H. and S. Won, Asypoc Sably of Neual Syses wh Mulple Delays, J. Op. heoy Appl., Vol. 03, pp (999.
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