observables

We study the realization problem for discrete-time input/output polynomial systems. These are formalized using tools from commutative algebra and algebraic geometry as systems whose state spaces are algebraic varieties, or more abstractly the set of k-points of an affine k-scheme, where k is an arbitrary infinite field. The input/output behaviors of such systems are described by "polynomial response maps" in which outputs are polynomial functions of past inputs. The main results show that every polynomial response map admits a canonical (quasi-reachable and algebraically observable) realization, which is unique up to isomorphism. The key to the approach is to linearize dynamics by considering a "dual" system in which states are functions defined on states. Finite dimensionality of the canonical realization, and its polynomiality, are characterized in terms of the space, algebra, and field of observables of the map, as well as in terms of algebraic input/output difference equations, and by a Jacobian rank criterion. A particular subclass consists of the maps that we call "bounded," defined by the property that their degree in the past inputs is uniformly bounded. Bounded maps are shown to be finitely realizable if and only if they are realizable by finite-dimensional state-affine systems, whose theory in turn reduces to that of rational formal power series. We also study the lattice of quasi-reachable realizations of a given map, including normal realizations. This work is an update of the PhD thesis written by the author in 1976; connections to recent work, including "Koopman-like" linearizations, are briefly discussed as well.

Linear immersions (or Koopman eigenmappings) of a nonlinear system have wide applications in prediction and control. In this work, we study the non-existence of one-to-one linear immersions for nonlinear systems with multiple omega-limit sets. While previous research has indicated the possibility of discontinuous one-to-one linear immersions for such systems, it remained uncertain whether continuous one-to-one linear immersions are attainable. Under mild conditions, we prove that any continuous one-to-one immersion to a class of systems including linear systems cannot distinguish different omega-limit sets, and thus cannot be one-to-one. Furthermore, we show that this property is also shared by approximate linear immersions learned from data as sample size increases and sampling interval decreases. Multiple examples are studied to illustrate our results.

Linear immersions (or Koopman eigenmappings) of a nonlinear system have wide applications in prediction and control. In this work, we study the existence of one-to-one linear immersions for nonlinear systems with multiple omega-limit sets. For this class of systems, existing work shows that a discontinuous one-to-one linear immersion may exist, but it is unclear if a continuous one-to-one linear immersion exists. Under mild conditions, we prove that systems with multiple omega-limit sets cannot admit a continuous one-to-one immersion to a class of systems including linear systems.

Invited talk at the 1994 ICM. Paper deals with the notion of observables for nonlinear systems, and their role in realization theory, minimality, and several control and path planning questions.

This paper establishes the equality of the observation spaces defined by means of piecewise constant controls with those defined in terms of differentiable controls.