Publications about 'realization theory' |
Books and proceedings |
(This is a monograph based upon Eduardo Sontag's Ph.D. thesis. The contents are basically the same as the thesis, except for a very few revisions and extensions.) This work deals the realization theory of discrete-time systems (with inputs and outputs, in the sense of control theory) defined by polynomial update equations. It is based upon the premise that the natural tools for the study of the structural-algebraic properties (in particular, realization theory) of polynomial input/output maps are provided by algebraic geometry and commutative algebra, perhaps as much as linear algebra provides the natural tools for studying linear systems. Basic ideas from algebraic geometry are used throughout in system-theoretic applications (Hilbert's basis theorem to finite-time observability, dimension theory to minimal realizations, Zariski's Main Theorem to uniqueness of canonical realizations, etc). In order to keep the level elementary (in particular, not utilizing sheaf-theoretic concepts), certain ideas like nonaffine varieties are used only implicitly (eg., quasi-affine as open sets in affine varieties) or in technical parts of a few proofs, and the terminology is similarly simplified (e.g., "polynomial map" instead of "scheme morphism restricted to k-points", or "k-space" instead of "k-points of an affine k-scheme"). |
Articles in journal or book chapters |
This paper introduces two generalizations of systems invariant with respect to continuous sets of input transformations, that is, systems whose output dynamics remain invariant when applying a transformation to the input and simultaneously adjusting the initial conditions. These generalizations concern systems invariant with respect to time-dependent input transformations with exponentially increasing or decreasing ``strength'', and systems invariant with respect to transformations of the "nonlinear derivatives" of the input. Interestingly, these two generalizations of invariant systems encompass linear time-invariant (LTI) systems with real transfer function zeros of arbitrary multiplicity. Furthermore, the zero-dynamics of systems possessing our generalized invariances show properties analogous to those of LTI systems with transfer function zeros, generalizing concepts like pole-zero cancellation, the rejection of ramps by Hurwitz LTI systems with a zero at the origin with multiplicity two, and (to a certain extend) the superposition principle with respect to inputs zeroing the output. |
This paper asks what classes of input signals are sufficient in order to completely identify the input/output behavior of generic bilinear systems. The main results are that step inputs are not sufficient, nor are single pulses, but the family of all pulses (of a fixed amplitude but varying widths) do suffice for identification. |
This paper deals with the orders of input/output equations satisfied by nonlinear systems. Such equations represent differential (or difference, in the discrete-time case) relations between high-order derivatives (or shifts, respectively) of input and output signals. It is shown that, under analyticity assumptions, there cannot exist equations of order less than the minimal dimension of any observable realization; this generalizes the known situation in the classical linear case. The results depend on new facts, themselves of considerable interest in control theory, regarding universal inputs for observability in the discrete case, and observation spaces in both the discrete and continuous cases. Included in the paper is also a new and simple self-contained proof of Sussmann's universal input theorem for continuous-time analytic systems. |
This paper shows that the weights of continuous-time feedback neural networks x'=s(Ax+Bu), y=Cx (where s is a sigmoid) are uniquely identifiable from input/output measurements. Under very weak genericity assumptions, the following is true: Assume given two nets, whose neurons all have the same nonlinear activation function s; if the two nets have equal behaviors as "black boxes" then necessarily they must have the same number of neurons and -except at most for sign reversals at each node- the same weights. Moreover, even if the activations are not a priori known to coincide, they are shown to be also essentially determined from the external measurements. |
It is shown that realizability of an input/output operators by a finite-dimensional continuous-time rational control system is equivalent to the existence of a high-order algebraic differential equation satisfied by the corresponding input/output pairs ("behavior"). This generalizes, to nonlinear systems, the classical equivalence between autoregressive representations and finite dimensional linear realizability. |
This paper studies fundamental analytic properties of generating series for nonlinear control systems, and of the operators they define. It then applies the results obtained to the extension of facts, which relate realizability and algebraic input/output equations, to local realizability and analytic equations. |
This paper establishes the equality of the observation spaces defined by means of piecewise constant controls with those defined in terms of differentiable controls. |
Explicit equations are given for the moduli space of framed instantons as a quasi-affine variety, based on the representation theory of noncommutative power series, or equivalently, the minimal realization theory of bilinear systems. |
Let Ul, U2, ... be a sequence of observed random variables and (T1(U1),T2(Ul,U2),...) be a corresponding sequence of sufficient statistics (a sufficient sequence). Under certain regularity conditions, the sufficient sequence defines the input/output map of a time-varying, discrete-time nonlinear system. This system provides a recursive way of updating the sufficient statistic as new observations are made. Conditions are provided assuring that such a system evolves in a state space of minimal dimension. Several examples are provided to illustrate how this notion of dimensional minimality is related to other properties of sufficient sequences. The results can be used to verify the form of the minimum dimension (discrete-time) nonlinear filter associated with the autoregressive parameter estimation problem. |
A state-space realization theory is presented for a wide class of discrete time input/output behaviors. Although In many ways restricted, this class does include as particular cases those treated in the literature (linear, multilinear, internally bilinear, homogeneous), as well ss certain nonanalytic nonlinearities. The theory is conceptually simple, and matrix-theoretic algorithms are straightforward. Finite-realizability of these behaviors by state-affine systems is shown to be equivalent both to the existence of high-order input/output equadons and to realizability by more general types of systems. |
Considered here are a type of discrete-time systems which have algebraic constraints on their state set and for which the state transitions are given by (arbitrary) polynomial functions of the inputs and state variables. The paper studies reachability in bounded time, the problem of deciding whether two systems have the same external behavior by applying finitely many inputs, the fact that finitely many inputs (which can be chosen quite arbitrarily) are sufficient to separate those states of a system which are distinguishable, and introduces the subject of realization theory for this class of systems. |
Conference articles |
In this article, we show that scale-invariant systems, as well as systems invariant with respect to other input transformations, can realize nonlinear differential operators: when excited by inputs obeying functional forms characteristic for a given class of invariant systems, the systems' outputs converge to constant values directly quantifying the speed of the input. |
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 studies various types of input/output representations for nonlinear continuous time systems. The algebraic and analytic i/o equations studied in previous papers by the authors are generalized to integral and integro-differential equations, and an abstract notion is also considered. New results are given on generic observability, and these results are then applied to give conditions under which that the minimal order of an equation equals the minimal possible dimension of a realization, just as with linear systems but in contrast to the discrete time nonlinear theory. |
In the context of realization theory, conditions are given for the possibility of simulating a given discrete time system, using immersion and/or feedback, by linear or state-affine systems. |
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