$H_{\infty }$ Positive Filtering for Positive Linear Discrete-Time Systems: An Augmentation Approach

In this note, we address the reduced-order positive filtering problem of positive discrete-time systems under the H_∞ performance. Commonly employed approaches, such as linear transformation and elimination technique, may not be applicable in general due to the positivity constraint of the filter. To cope with the difficulty, we first represent the filtering error system as a singular system by means of the system augmentation approach, which will facilitate the consideration of the positivity constraint. Two necessary and sufficient conditions are obtained in terms of matrix inequalities under which the filtering error system has a prescribed H_∞ performance. Then, a necessary and sufficient condition is proposed for the existence of the desired positive filters, and an iterative linear matrix inequality (LMI) algorithm is presented to compute the filtering matrices, which can be easily checked by standard software. Finally, a numerical example to illustrate the effectiveness of the proposed design procedures is presented.