Linear Controller Design: Limits of Performance by Stephen Boyd and Craig Barratt - HTML preview

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CHAPTER 4 NORMS OF SIGNALS

4.3

Common Norms of Vector Signals

The norms for scalar signals described in section 4.2 have natural extensions to

vector signals. We now suppose that : +

n

, i.e., ( )

n

for

0.

u

R

!

R

u

t

2

R

t

4.3.1

Peak

The peak, or

norm, of a vector signal is de ned to be the maximum peak of

L

1

any of its components:

= max

= sup max ( )

kuk

ku

k

ju

t

j

1

1

i

1

0 1

i

i

n

i

n

t

(note the di erent uses of the notation

). Thus, \

is small" means

k

k

kuk

1

1

that every component of is always small. A two-input peak detector is shown in

u

gure 4.18.

q

q

+

+

1

2

q

q

q

q

u

(t)

u

(t)

;

+

;

;

Vc

q

q

With ideal diodes and an ideal capacitor, the voltage on the

Figure

4.18

capacitor, V , tends to u for t large, where u = u1 u2]T is a vector of

k

k

c

1

two signals.

4.3.2

RMS

We de ne the RMS norm of a vector signal as

1

1 2

!

=

Z

T

rms =

lim

( )T ( )

(4.16)

kuk

0 u t u t dt

T

!1

T

provided this limit exists (see the Notes and References). For an ergodic wide-sense

stationary stochastic signal this can be expressed

2

1 Z 1

rms =

( ) 22 =

(0) =

( )

kuk

E

ku

t

k

T

r

R

T

r

S

!

d!

:

u

2

u

;1

index-96_1.png

index-96_2.png

index-96_3.png

index-96_4.png

index-96_5.png

4.3 COMMON NORMS OF VECTOR SIGNALS

87

(For vector signals, the autocorrelation is de ned by

( ) = ( ) ( + )T

R

E

u

t

u

t

u

(c.f. (4.4))). For such signals we have

1 2

!

=

rms =

n

X

2rms

(4.17)

kuk

ku

k

=1 i

i

i.e.,

rms is the square root of the sum of the mean-square values of the compo-

kuk

nents of .u

A conceptual model for the RMS value of a vector voltage signal is shown in

gure 4.19.

+

1

R

ambient

u

(t)

temperature Tamb

;

+

2

R

u

(t)

P

i

P

;

P

large thermal mass

temperature T

If u1 and u2 vary much faster than the thermal time constant

Figure

4.19

of the mass, then the long term temperature rise of the mass is proportional

to the average power in the vector signal u, i.e. T Tamb

u 2rms, where

;

/

k

k

Tamb is the ambient temperature, and T is the temperature of the mass.

4.3.3

Average-Absolute

The average-absolute norm of a vector signal is de ned by

1 Z n

T

X

aa = lim sup

( )

kuk

0

ju

t

j

dt:

i

T

T

!1

=1

i

This measures the average total resource consumption of all the components of .u

index-97_1.png

index-97_2.png

index-97_3.png

index-97_4.png

index-97_5.png

index-97_6.png

88