No Arabic abstract
In this paper, nonlinear model reduction for power systems is performed by the balancing of empirical controllability and observability covariances that are calculated around the operating region. Unlike existing model reduction methods, the external system does not need to be linearized but is directly dealt with as a nonlinear system. A transformation is found to balance the controllability and observability covariances in order to determine which states have the greatest contribution to the input-output behavior. The original system model is then reduced by Galerkin projection based on this transformation. The proposed method is tested and validated on a system comprised of a 16-machine 68-bus system and an IEEE 50-machine 145-bus system. The results show that by using the proposed model reduction the calculation efficiency can be greatly improved; at the same time, the obtained state trajectories are close to those for directly simulating the whole system or partitioning the system while not performing reduction. Compared with the balanced truncation method based on a linearized model, the proposed nonlinear model reduction method can guarantee higher accuracy and similar calculation efficiency. It is shown that the proposed method is not sensitive to the choice of the matrices for calculating the empirical covariances.
The classical notions of structural controllability and structural observability are receiving increasing attention in Network Science, since they provide a mathematical basis to answer how the network structure of a dynamic system affects its controllability and observability properties. However, these two notions are formulated assuming systems with linear dynamics, which significantly limit their applicability. To overcome this limitation, here we introduce and fully characterize the notions structural accessibility and structural observability for systems with nonlinear dynamics. We show how nonlinearities make easier the problem of controlling and observing networked systems, reducing the number of variables that are necessary to directly control and directly measure. Our results contribute to understanding better the role that the network structure and nonlinearities play in our ability to control and observe complex dynamic systems.
Observability and controllability are essential concepts to the design of predictive observer models and feedback controllers of networked systems. For example, noncontrollable mathematical models of real systems have subspaces that influence model behavior, but cannot be controlled by an input. Such subspaces can be difficult to determine in complex nonlinear networks. Since almost all of the present theory was developed for linear networks without symmetries, here we present a numerical and group representational framework, to quantify the observability and controllability of nonlinear networks with explicit symmetries that shows the connection between symmetries and nonlinear measures of observability and controllability. We numerically observe and theoretically predict that not all symmetries have the same effect on network observation and control. Our analysis shows that the presence of symmetry in a network may decrease observability and controllability, although networks containing only rotational symmetries remain controllable and observable. These results alter our view of the nature of observability and controllability in complex networks, change our understanding of structural controllability, and affect the design of mathematical models to observe and control such networks.
In this paper, we consider the state controllability of networked systems, where the network topology is directed and weighted and the nodes are higher-dimensional linear time-invariant (LTI) dynamical systems. We investigate how the network topology, the node-system dynamics, the external control inputs, and the inner interactions affect the controllability of a networked system, and show that for a general networked multi-input/multi-output (MIMO) system: 1) the controllability of the overall network is an integrated result of the aforementioned relevant factors, which cannot be decoupled into the controllability of individual node-systems and the properties solely determined by the network topology, quite different from the familiar notion of consensus or formation controllability; 2) if the network topology is uncontrollable by external inputs, then the networked system with identical nodes will be uncontrollable, even if it is structurally controllable; 3) with a controllable network topology, controllability and observability of the nodes together are necessary for the controllability of the networked systems under some mild conditions, but nevertheless they are not sufficient. For a networked system with single-input/single-output (SISO) LTI nodes, we present precise necessary and sufficient conditions for the controllability of a general network topology.
Given a linear control system in a Hilbert space with a bounded control operator, we establish a characterization of exponential stabilizability in terms of an observability inequality. Such dual characterizations are well known for exact (null) controllability. Our approach exploits classical Fenchel duality arguments and, in turn, leads to characterizations in terms of observability inequalities of approximately null controllability and of $alpha$-null controllability. We comment on the relationships between those various concepts, at the light of the observability inequalities that characterize them.
We identify a new observability concept, called relative observability, in supervisory control of discrete-event systems under partial observation. A fixed, ambient language is given, relative to which observability is tested. Relative observability is stronger than observability, but enjoys the important property that it is preserved under set union; hence there exists the supremal relatively observable sublanguage of a given language. Relative observability is weaker than normality, and thus yields, when combined with controllability, a generally larger controlled behavior; in particular, no constraint is imposed that only observable controllable events may be disabled. We design algorithms which compute the supremal relatively observable (and controllable) sublanguage of a given language, which is generally larger than the normal counterparts. We demonstrate the new observability concept and algorithms with a Guideway and an AGV example.