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1
2
Math Dept
UCSD
means
L(x) is PosDef.
means
L(x) is PosDef.
p(x) = x1 x2 + x2 x1
p(X) = X1 X2 + X2 X1 .
Outline
Ingredients: Polynomials and LMIs with Matrix Unknowns
Linear Systems give NonCommutative Polynomial Inequalities
Dimension Free Convexity vs NC LMIs
Comparison to LMIs in Scalar Unknowns
Free RAG
Convex Positivstellensatz
Randstellensatz for Defining Polynomials
Examples of NC Polynomials
X = (X) Snn
y-
G
x-state
k
k
k
k
k
k
Asymptotically stable
dx(t)
dt = Ax(t) + Bv(t)
k
Re(eigvals(A))
0
k
AT E + EA 0 E 0
Energy dissipating
G : L2 L2
|v|2dt
x(0) = 0
|Gv|2dt
k
k
k
k
k
k
k
E = ET 0
H := AT E + EA+
+EBB T E + C T C 0
E is called a storage function
- 2
Given - L
Find
- 2
Given - L
Find
Equivalent to
Noncommutative
- 2
Given - L
Find
Equivalent to
Noncommutative
GET ALGEBRA
- -
Given
A, B1 , C1 , D
- B2 , C2
Find
abc
D=
BLOCK matrices
ENERGY DISSIPATION:
H := AT E + EA + EBBT E + C T C 0
E11 E12
E=
E12 = E21 T
E21 E22
Hxx Hxy
H=
Hxy = HT
yx
Hyx Eyy
0
1
1
0
H Control
ALGEBRA PROBLEM:
Given the polynomials:
T
T T
T
Hxx = E11 A + AT E11 + CT
1 C1 + E12 b C2 + C2 b E12 +
T
T
T
T
T
E11 B1 b E12 + E11 B1 B1 E11 + E12 b b E12 + E12 b BT
1 E11
aT (E21 +E12 T )
T
+ cT C1 + E22 b C2 + cT BT
2 E11 +
2
T
T
T
T
E21 B1 b (E21 +E12 )
E22 b b (E21 +E12 )
T
T
+ E21 B1 BT
+ E22 b BT
1 E11 +
1 E11
2
2
T
(E12 +E21 ) a
T
T
Hzx = AT E21 T + CT
+ E11 B2 c + CT
1 c+
2 b E22 +
2
T
T
T
(E +E T ) b BT E T
(E12 +E21 ) b b E22
T
+ 12 21 2 1 21
E11 B1 bT E22 T + E11 B1 BT
1 E21 +
2
T
T
T
Hzz = E22 a + aT E22 T + cT c + E21 B2 c + cT BT
2 E21 + E21 B1 b E22
T
T
T
T
T
E21 B1 BT
1 E21 + E22 b b E22 + E22 b B1 E21
Hxz = E21 A +
^
x
^
z
^
f
+
+
w
+ +
..
..
..
p(a, x) :=
.
.
.
pk1 (a, x)
pkk (a, x)
Given matrices A.
Find matrices X so that P(A, X) is PosSemiDef.
BAD Typically p is a mess, until a hundred people work on it
and maybe convert it to CONVEX in x Matrix Inequalities.
All known successes3 do more: They convert to a LMI in x.
3
OUTLINE
Ingredients: Polynomials and LMIs with Matrix Unknowns
Linear Systems give NonCommutative Polynomial Inequalities
Dimension Free Convexity vs NC LMIs
Comparison to LMIs in Scalar Unknowns
Free RAG
Convex Positivstellensatz
Randstellensatz for Defining Polynomials
Convexity vs LMIs
QUESTIONS (Vague) :
WHICH DIM FREE PROBLEMS ARE LMI PROBLEMS.
Clearly, such a problem must be convex and semialgebraic.
Which convex nc problems are NC LMIS?
WHICH PROBLEMS ARE TREATABLE WITH LMIs?
This requires some kind of change of variables theory.
A cleaner problem
..
..
..
p(x) :=
.
.
.
pk1 (x)
pkk (x)
Linear Pencil
RECALL
I
DL := n DL (n)
Theorem
Theorem
Outline
Ingredients: Polynomials and LMIs with Matrix Unknowns
Linear Systems give NonCommutative Polynomial Inequalities
Dimension Free Convexity vs NC LMIs
Comparison to LMIs in Scalar Unknowns
Free RAG
Convex Positivstellensatz
Randstellensatz for Defining Polynomials
is PosSD}
Rg
EXAMPLE
here x := (x1 , x2 )
3x1 + 5x2
1
with
L(x) =
1 + 2x1 + 3x2
3x1 + 2x2
QUESTION 1
Does this set C which is the inner component of
p=0
XX
z
X
P
P
PP
q
P
x2
2
C p0
7 6 5 4 3 2 1
x1
1
2
3
QUESTION 2
Does this set have an LMI representation?
Cp
0.5
x2
p0
0.5
0.5
1
x1
p=0
p(x1 , x2 ) = 1 x1 4 x2 4 > 0
Cp := {x R2 : p(x) > 0} has degree 4.
where d = degree of p.
In this counting one ignores lines which go thru x0 and hit the boundary of
C at .
Free RAG
Is q(X) PosSemiDef
if
L(X) is PosSemiDef?
Is q(X) PosSemiDef
if
L(X) is PosSemiDef?
deg(q)
2
k
.
deg(q)
2
Take q(x)
= kL(x)
an affine linear nc function, q(0) = I.
j
deg(L)
Then
= 0, so fj are constants. The PosSS becomes:
2
Free LMI domination Theorem:
P
L
=
j Vj L(x)Vj
V isometery
X closure Dp , p(X)v = 0}
Theorem in preparation
SUPPOSE:
p(x) is a d d symmetric nc polynomial, and
L(x) is a d d monic linear pencil for which
b equals the Zero Set of L,
the free Zariski closure of D
L
THEN
and
if only if
p=L
X
i
qi qi
L+
b D
b
D
L
p
(rj L + Cj ) L (rj L + Cj ) ,
Current ventures
MANY THANKS
from
Igor Klep
Math Dept
NewZealand
Scott McCullough
Math Dept
University of Florida
Chris Nelson
Math Dept
UCSD NSA
Victor Vinnikov
Polys in a and x