484 IEEE T R A N S A ~ O N ON

S AUTOMATIC cornor, VOL AC-23, NO. 3, JUNE 1978

EIcCC+Y. Exanple

This leads to the following.

Lemma I
A = [ ,0 10 01 1
0 0 0
I:[=. .=[;I
If there exists an unknown input observer, then C=(l 1 H
1 ) = ( 1 0 0) c*=c-
XCC+Y* It is easily seen that T = K e r D and that (15) holds. With
where Y* is the unique maximal element of

Y={YIAYcY+C, YcKerD).
To proceed, define an observer to be internal& nonredundant if
rankV=q

and externul& nonredundant if

and (8) is satisfied with E=O,F=(l 0).
rank[ Cy:]=rank~+rank~. REMARKS
IV. CONCLUDING
If (lla) or (llb) is satisfied it is easily shown that Although the assumption (1 1) is always made in observer theory, it is
worth investigating thestructuralconstraints imposed by itforthe
L= VL problem treated here. The design of minimal-order and robust [7l un-
known-input observers are also interesting unsolved problems.
has a solution for every L, and we assume, henceforth, thatthe
observer is either internally or externally nonredundant. Now
REFERENCES
( A - CL)Y= YN. (13)
[I] D. G . Luenberger, An introduction to observers, IEEE Tram. Aufomal. Contr.,
vol. 16, pp. 59- 1971.
Frzm (13), N is the restriction of (A- CE) to Im V; i.e., N = ( A - 121 S. H. Wan& E. J. Davison, and P. Dorato, Observing the states of systems with
CL)IY. This motivates us to introduce the following result proved in [6, unmeasurable disturbances, IEEE Tram Awomat.Contr., vol. 20, pp. 716-717,
1975.
pp. 1201. [3] G . Hostetter and J. S. Meditch, Wlbserving systems with unmeasurable inputs,
IEEE Trans. Automat. Corn., vol. AC-18, pp. 307-308, June 1973.
Lemma 2 [4] G . B a d e and G . Marro On the observability of Linear time-invariant systems with
unknown inputs, J. Opfimiz. Themy Appl., vol. 3, pp. 410-415, June 1969.
The class of subspaces [5] R Guidorzi and G. Marro, On Wonham stability condition in the synthesis of
observers for unknown-input system$ IEEE Tram Automar. Contr., vol. AC-16, pp.
499-500, Oct. 1971.
T,={113Lsuchthat(A-CL)YcVcKerDu,(A-C~IV)cC,) (61 W. M. Wonham, Linear Multiwriable Confrol: A Geomefric Apprwch (Lecture Notes
in Economies and Mathematical Systems). Berlin: Springer, 1974.
171 S. P. Bhattacharyya, Thestructure of robust observer$ IEEE Trans. Aulomot.
(14) Contr., vol AC-21, pp. 581-594, Aug. 1976.

has a unique maximal element V.:

; and a suitable E is given in [6, pp. 1201 and is
The construction of V
omitted here. The main result can now be stated as follows.
Theorem
There exists a solution to theunknown input observer design problem,
subject to (1 la) or (1 lb), if and only if
3CC6?+??. (15) Application of Equivalent Control Method to the Systems
with Large Feedback Gain
Proofi Necessity is clear from the preceding discussion and the fact
that u ( N ) = u(N). For sufficiency, start by computing V,: the maximal v. UTKIN
element of (14), and a suitable L*, satisfying (A - CL*JV;) c Ck using
the procedure given in [6, pp. 1201. Let v* be an n X q* matnx with Absrmct-Diierential equations of slow motion Zn the systems with a
q* = dim.Yi and Im Y* = V .: Now calculate L* from large feedback gain are obtained using the equivalent control method
developed for the analysis of sliding mode in systems ~ t discontinuoas
h
L* = p*p controls [l].
and N* from Given a control system

(A-cL*)P=Y*N*. x=f(X,f)+B(x,l)u
u=ks(x) (1)
Calculate E * , P satisfymg
where X J E R , k is a scalar, the function s ( x ) is continuously differen-
CP+ PP=
H
tiable, det GB # 0, G =(&/ax).
and evaluate
G* = V B Manuscript received July 23, 1977.
The author was with the Department of Electrical Engineering, Universiiy of Illinois,
Then B = (N*,
L*, G*,E*, E * ) is the desired observer. Urbana, IL 61801. He is now with the Institute of Control Sciences Moscow, USSR.

0018-9286/78/~0484$4%0.75 01978 IEEE

~ C K N I C A LNOTES AND CORRESPONDENCE 485

For a large feedback gain k, the motion beyond the manifold s(x)=O limx(t)=x*(t) for t o < r < t o + T (9)
A-0
isfast and, if itconverges to this manifold,slowmotionoccurs.
Since fast motion decays for a short timeinterval and slow motion where x * ( t ) is a solution of (7,limA4~~x(ro)-x*(tO)ll = O
depends on the function s(x), a control system with desired properties
can be designed by a proper choice of this function. In particular, the s[x*(to)l=o Ils[x(t)lll<a.
conditions of stability and invariance with disturbances and plant-
parameter variations for linear systems with a large feedback gain are Therefore, if the control in (I) with a large gain k steers the state into a
found in [2]. small vicinity of the manifold s ( x ) = 0, then the further motion would be
Decoupling overall motion into fast and slow ones can also be made described by the system (7) within the accuracy A.
in so-called singularly perturbed systems represented by equations The followingtheorem states the conditions for the fast motion to
converge to the manifold s(x)=O.
Theorem
If the functions f ( x , t), B ( x , t ) s ( x )and fo(x,1 ) satisfy Lipshitz condi-
tions for all x, and the system
where p>O is a scalar and x , z, and u are n-, I-, and m-dimensional
vectors, respectively.For p = 0, the order n + I of (2) and (3) reduces to n;
that is, (3) becomes ;d.9
ii=G(~,f)B(x,t)s

O=g(x,z,u,t,o) (4) isuniformlyexponentially stable withrespect to all x ( t ) and I, i.e.,

positive quantities A and a can be found such that
and substitution of a root of (4)
Il~(~)ll<~II~(~)lle- (1 1)
z = d x , u, t )
then, for any positive A and T, there exists positive ko such that in the
into (2) yields an equation of slow motion system (1)
-;=f(X,(P(X,u,t),U,t,O). (5) lls(r)//<A for k > k m t O + f , < t < t O + T (12)
The conditions under which this order reduction isvalidwere estab- and
lished in 131. These conditions imply that the matrix ag/az has negative
eigenvalues along trajectories of the reduced system. Methods developed lim t,=o.
k-tm
for singularly perturbed systems and their applications to control theory
are surveyed in [4]. Proof: Consider the motion projection on subspace sir. . . ,sm
The system (1) can be written in the following form:

fLi = pf(x, t ) + B ( x0 ,4 X ) (6)

where t = p ~ .
where p = k - . As follows from (1 1) for any positive A, the solution of (10) satisfies
The methoddevelopedin [3] for the systemswith fast and slow inequalities
motions cannot be applied to the system (6) directly, since (6) with p=O
B(x,t)s(x)=O

has not a unique solution (or finite number) with respect to x, and does
not allow to separate slow and fast variables.
This note considers the conditions of convergence of the fast motion
to the manifold s ( x ) = O and differential equations of the slow motion.
The motions in the system (1) will be studied, utilizing the so-called
equivalent control method, which is developed to obtain differential
equations of sliding modes in systems with discontinuous controls. This
type of motion can arise in the manifold s(x)=O if the components of
control undergo discontinuity on surfaces s j ( x ) = 0, where s T =
(sl,-. . ,sm) [I]. To find the equation representingslidingmode, the
solution of the algebraic equation 4=0 along the trajectories of (1) with
respect to u, named equivalent control, should be substituted into the
original system. This procedure yields an equation for slidmg mode in
the manifold s(x) =0
with initial conditions s(x(to))=O.
Slidingmodein any realsystemoccurs in a smallvicinity of the
intersection of discontinuity surfaces
where the magnitude of A is determined by small nonidealities (hystere-
sis and time delay in switching devices, s m a l l time constants, etc.) usual-
ly neglected in an ideal model. As shown in [l], independently on what
control ensures motion in the domain (8), this motion tends to the
motionrepresentedby the system (7) for any finitetimeinterval
[to,to+ TI if the magnitude of A tends to zero
and
The right-hand side of (6) or the equation
satisfies the Lipshitz con&tion. Therefore, the solutions of (17) are
bounded on the interval to 4 T < to+ TI. This means that there exists
pI > O such that the solution of (14) also satisfies the inequality (15) for
p < p l . If the inequality (16) holds for the system (14) for some finite
timeinterval, then x ( t ) satisfies (7) within the accuracy A. Sincethis
equation satisfies the Lipshitz condition, its solution is bounded for any
finite time interval. Hence for any finite time interval there exists 1*2 > 0
such that the inequality (16) does hold for the system (14) if p < k .
Thus, if the solution of (10) is uniformly exponentially stable, there
exists h,or ko = h-I such that the trajectories of the system (1) are in
A-vicinity of the manifold s ( x ) = O for any finite time interval ro+ t l G r <
to+ T, f 1 = p T l , and p < or k > k,,. The interval of fast motion
f 1= pTl can be made arbitrarily small by increasing a feedback gain k .
The theorem is proved.
If the conditions of the theorem hold, the motion in the domain (12)
occurs. As follows from (S), it is represented by the differential equation
(7)resulting from equivalent control method within accuracy A, which
can be made as small as desired for a feedback gain large enough. The
order of the system (7) representing slow motion is m less than the order
of the originalsystem (I), as for the slow motion s(x)=O, and this
equation allows us to exclude m variables.
486
The previous consideration shows that a desired slow motion can be
obtained by a proper choice of the function s(x), or the matrix G. This
desired motion occurs after a short time interval duringwhich the fast
motion of the mth-order exponentially stable subsystem (10) converges
to s(x) =0.
We shall discuss different types of conditions ensuring the conver-
gence of the fast motion to the manifold s(x)=O. As shown in [5] the
system (IO) is uniformly exponentially stable if the m X m matrix GB has
a dominating diagonal; thatis, all diagonalelements are negative and for
each row or column absolute value of the diagonal element is greater
than the sum of absolute values of the rest of the elements.
For the cases when the matrixB depends on t only and has a bounded
time derivative, the conditionforthefast motion to converge to the
manifold s(x)=O can be obtained based on the analysis of a time-in-
variant system. To show this, consider the behavior of the system in the
space ( 9 , s ) if
9 = Bo(t)x
s=s(x)
where B,,(r)B(t)=O and rank B o = n - m (i.e., the rows of Bo and the
columns of B are orthogonal). By implicit function theorem this transfor-
mation is not singular, since det (GB)#O means that rank ( B z , G G T ) = n
and function x = x(q,s,t) exists.
The system (1) in the space ( 9 , s ) is represented by differential equa-
tions
&
;~;=~I(PT,~,s)+PQ(T)Rz(~T~~,s)
--
dT
63 -ILR3(~T,l),s)+Rq(PT,q,S)S
where
R1= Bo( P4f[x(7JAPT7)1
R2=X(%S,pT)
R~=G[X(~,S,~TL~)I~[X(~,S,PT~)I
R4=G[X(q,&PT)I
and Q(T) is time derivative of B, which is bounded. The functions R,,
R2,R,, R, are assumed to satisfy the Lipshitz condition. In contrast to
(17) the right-hand side in (1 8) is equal to zero when p = 0. If p < p,, and
the system
2 = R,(a,P,s)s
is uniformly exponentially stable for any constant parameters a and p, it
can be shown similarly to the system (14) and (17) that the motion of
(18) and (19) is governed by the equation of equivalent control method
(7)within the accuracy A for any finite time interval p~< r < T. If the
function s(x) is linear, then G is constant and R4 depends on time only.
In this case, the equivalent control method can be applied to the system
(1) if the matrix G B ( t ) satisfies Hurwitz conditions for all 1.
ACKNOWLEDGMENT
The author wishes to thank the Coordinated Science Laboratory and
the Electrical Engineering Department, University of Illinois, for support
in preparing this note.
bFERENCeS
[I] V. I. Utkin. Equations of sliding mode in discontinuous systems, I,
Remote Contr, no. 12, pp.1897-1907,1971.
-, Equations of sliding mode in discontinuous system.% 11, Automat. Remote
Contr., no. 2, pp. 211-219, 1972.
0018-9286/78/0600-0486$CKl.75 01978 IEEE
IEEE TRANSACTIONS ON AUTOMATC
I CONTROL,VOL. AC-23, NO. 3, m 1978
121 M. V. Meerov, Stmctural Synthesis of High Accuracy,Automaric Confrol %stems.
Oxford:Pergamon, 1965.
[3] A. N. Tichonov, Systems of differential equations containing asmallparameter
multiplying the derivative, M a t Sb, voL 31, pp. 575-586, 1952.
[4] P. V. Kokotovic, R. E. OMalley, Jr., and P. Sannuti, Singularperturbation and
order reduction in control theory-& overview. Aufomafica, vol. 12, pp. 123-132,
1976.
[S] H. H.
Rosenbrock, On a method of investigation of stability, in P m . II I F A C
Congr., 1963, FJasel, Switzerland, vol. 1. pp. 5 W 5 9 4 .
Global Controllability for a Class of Bilinear Systems
K. C. WE1 .um A. E. PEARSON
Absb.acr-Using fiied-point arguments, sufficient conditions are de-
rived for global controllabiity of a nonhomogeneousbilinear system and a
related class of nonlinear systems. It is shown that certain bomdednes
assumptions can be removed dative to pre~ousresults.
I. INTRODUCTION
Consider the nonhomogeneous bilinear system
(18)
(19)
where x(t) is an n X 1 vector; u ( t ) is an m X 1 input vector with compo-
nents %; and A , Bi, C are n X n, n X n, and n X m matrix-valued continu-
ous functions. Given (xo,xI) as the initial and final states, respectively,
the problem is to find a continuousinputfunction u(t), defined on
[to,tl],which steers system (1) from x. to xI at t l . The usual definitions
of globally completely and totally controllable are assumed [11.
The global controllability property of a class of bilinear systems using
bounded controls was reported in [2] in which rather elaborate condi-
tions were derived to insure global controllability. Here, fixed-point
arguments are used in a manner similar to Davison et a/. [I], [3] and
Klamka [4] and Wei [5]. However, certain boundedness conditions will
be removed which prevent the direct application of the results in [lH5]
to the bilinear system (1).
Denote Cm[to,tI]as a Banach space of continuous R-valued func-
tions on [ t s r l ] with the uniform norm Ilu(r)ll=maxi m a ~ ~ + ~ , , ~ l u ~ ( t )
where lq(t)l is the absolutevalue of u,(t), the element of u(t). Define the
norm of a continuous n X m matrix-valued function F( t) by
where the Fii are elements of F.
For each fixed element o E Cm[t,tl], the solution to the parameterized
system
with x(Q= x. is given by
Manuscript received July 15, 1977. This work was supported in part bythe U.S.Air
Force Office of Scientific Research Under Grant AFOSR-75-2793.
Automat. K. C. Wei was with the Division of Engineerin& Brown University, Providence, RI
02912. He is now with Combustion Engineering, Inc.. Windsor, CT 06095.
A. E. Pearson is with the Division of Engineering, Brown University, Providence, RI
02912.