Synthesis of dissipative systems using quadratic differential forms: Part I

The problem discussed is that of designing a controller for a linear system that renders a quadratic functional nonnegative. Our formulation and solution of this problem is completely representation-free. The system dynamics are specified by a differential behavior, and the performance is specified through a quadratic differential form. We view control as interconnection: a controller constrains a distinguished set of system variables, the control variables. The resulting behavior of the to-be-controlled variables is called the controlled behavior. The constraint that the controller acts through the control variables only can be succinctly expressed by requiring that the controlled behavior should be wedged in between the hidden behavior, obtained by setting the control variables equal to zero, and the plant behavior, obtained by leaving the control variables unconstrained. The main result is a set of necessary and sufficient conditions for the existence of a controlled behavior that meets the performance specifications. The essential requirement is a coupling condition, an inequality that combines the storage functions of the hidden behavior and the orthogonal complement of the plant behavior