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C. Singular values and the induced 2-norm E. Impulsive solutions in dynamical systems
Singular values and orthogonal matrices play a key role The zeros at infinity is more significant in systems theory as
and hence we summarize the essential background in this it is closely related to the presence of impulsive solutions in
a dynamical system. Impulsive solutions are system responses Of course, the above definition applies for generalized eigen-
which involve the dirac delta distributions and/or its derivatives. values with multiplicity too. We first note that if (E, A) has a
The following proposition makes this precise. repeated generalized eigenvalue at ∞, then (E, A) is already
Proposition 2.3: [?] Consider an autonomous singular sys- arbitrarily close to having one or more zeros at infinity, if it
tem with state space representation E ẋ = Ax, where E, A ∈ already does not have one. This can be seen as follows.
Rn×n and E singular. The free response of the system has no ??
impulsive solutions for any initial condition x(0) ∈ Rn if and IV. M AIN RESULTS
only if deg det(sE − A) = rank E.
This section contains our main results. We first state the
The following result from [?, page 1076] helps in revealing
following result that states that if rank of E is at least two
the fast subsystem more directly and is very helpful for con-
less than n, then a regular pencil sE − A either already has
ceptual purposes. See also [?, page 28].
one or more zeros at infinity or requires an arbitrarily small
Proposition 2.4: Consider E, A ∈ Rn×n and suppose r =
perturbation to have such zeros at infinity.
deg det sE − A. Then there exist nonsingular matrices M1 and
Theorem 4.1: A regular matrix pencil (E, A) with E, A ∈
M2 such that
" # " # Rn×n and rank (E) 6 n − 2 is arbitrarily close to a regular
Ir 0 As 0 matrix pencil pair (E 0 , A0 ) having a zero at infinity. More
M1 EM2 = and M1 AM2 = , (1)
0 N 0 In−r precisely, for every > 0, there exist perturbation matrices
where N is a nilpotent matrix. ∆E and ∆A such that
The significance of this result is that existence of zeros at •k∆E k22 + k∆A k22 6 , and
• s(E + ∆E ) − (A + ∆A ) has a zero at infinity.
infinity of the pair (E, A) is equivalent to the nilpotent matrix
N not being identically zero. Proof: Let the matrix E has rank n − 2. Perturbing E in the
following manner:
III. P ROBLEM F ORMULATION
σ1 0 . . . . . . . . . 0
Having noted the significance of zeros at infinity in dynami- 0 σ2 . . . . . . . . . 0
.. .. .. ..
cal systems theory, we formulate the problem that we study in ..
. . . ... . .
this paper.
.
.. . . . . . . σ
n−2 0 0
Problem 3.1: Consider E and A ∈ Rn×n . Find the mini-
.
.. . . . . . . . . .
mum value of k∆E k2 +k∆E k2 such that s(E+∆E )−(A+∆A )
1 2
has one or more zeros at infinity. 0 ... ... ... ... 0
We also deal with the situations when only E or only A Here,
are perturbed. Another important measure of the amount of 0
.
perturbation is the Frobenius norm. However, for a rank one h i ..
mtl = 0 ... 1 , mr =
matrix, the Frobenius and 2-norms are the same: rank one −2
matrices play a key role in our results. We provide explicit 1
closed form solutions for the case when ∆A and ∆E are each
hence,
of rank one. Of course, for the case when these need not be of
rank one, our values are upper bounds. h i
mtl Amr = an,1 . . . an,n−1 an,n mr
It is easy to see that
.
k∆E k22 + k∆A k22 6 k[∆E ∆A ]k22 . ⇒ ann 1 = an,n−1 2
1 an,n−1
As reviewed in Section II-E, it is often convenient to bring ⇒ =
2 an,n
the pair (E, A) to the standard form (1). However, nonsingular
Thus,
matrices M and N in general do change the 2-norm and the
1 = K × an,n−1 , 2 = K × an,n
Frobenius norms of E and A, and hence of the perturbation
matrices too. In this context, orthogonal/unitary matrices play a . So we can make as small as possible. Hence with a very small
more helpful role to bring the pair (E, A) to a convenient form value of K, we can have a zero at in finity in the perturbed
without loss of generality. We review two particular forms. The (E 0 , A) pair. If an,n−1 = 0, then 1 = 0 and 2 can be any
first one is of course the case where orthogonal matrices are arbitrary small value.
used to ensure E is diagonal, and in face, has its singular values If the matrix E has rank less than n − 2 hence with arbitrary
along the diagonal (sorted according to decreasing magnitude.) small perturbation the rank can be increased to n − 2 and the
The second one is the generalized Schur form: see [?]. same procedure can be adopted to get a zero at infinity.
If these perturbations make the perturbed pair (E 0 , A) sin- E to be r. Consider M ∈ R(n−r)×n , full row rank such that
gular, then mr is in the null space of matrix A. Hence we can M E = 0. Then the following are equivalent:
perturbe A by some small in the last column or the n − 1 1) dim(M A ker E) = n − rank E.
column such that mr is no longer in the nullspace of perturbed 2) There are no inadmissible initial conditions for this system.
A0 . Proof: Consider a singular value decomposition of any
Theorem 4.2: A singular matrix pencil (E, A) with E, A ∈ matrix, say P ∈ Rn×n , with rank r < n.
Rn×n is arbitrarily close to a regular matrix pencil having a " #
D 0
zero at infinity. In other words, for every > 0, there exist UPV = Σ = (2)
0 0n−r
∆E , ∆A ∈ Rn×n such that
where U, V ∈ Rn×n are orthogonal matrices and D is a
• s(E + ∆E ) − (A + ∆A ) is regular,
nonsingular diagonal matrix of size r. Let U be partitioned
• k∆E k22 + k∆A k22 6 , and " #
U1
• s(E + ∆E ) − (A + ∆A ) has a zero at infinity. as , where U1 ∈ Rr×n and U2 ∈ R(n−r)×n . Let V be
U2
Proof: Let the nullspaces of matrix A and matrix E be NA and h i
partitioned as V1 V2 , where V1 ∈ Rn×r and V2 ∈
NE respectively. Hence for the matrix pencil to be singular:
Rn×(n−r) . We use this decomposition, in particular that the rows
NA ∩ NE 6= {0}. of U2 are a basis of ker P T and the columns of V2 are a basis
of ker P .
First assuming the rank of E = n − 1 and intersection is (1 ⇒ 2) : We assume dim(M A ker E) = n − r and
nonempty for the right null spaces of both E and A. show that sE − A has no zeros at infinity. Without loss of
0 generality, assume E is diagonal. Since the rank of E is r. Let
. A be partitioned in accordance with nonzero and zero diagonal
NE = ..
. entries in E into: " #
1 A1 A2
A3 A4
Hence the last column of matrix A is zero. Thus by perturbing
the last column of anywhere except at the last entry i.e an,n , where A1 ∈ Rr×r and A4 ∈ R(n−r)×(n−r) . From the partitions
the perturbed pair (E, A0 ) becomes regular which has a zero at of U and V we have A4 = U2 AV2 . The rows of U2 form a basis
infinity. Similar procedure can be adopted if left null spaces are for ker E T , i.e U2 = M . Similarly columns of V2 form a basis
involved. If both left and right null space of E are contained in for ker E. Therefore dim(M A ker E) = rank A4 . It is given
the nullspace of A, then the last row and column of A are both dim(M A ker E) = n − r. This implies A4 is nonsingular.
zero. Hence perturbing simultanously the last row and column Since A4 is nonsingular and because of the structure of E it is
of A and leaving an,n = 0 the perturbed pair (E, A0 ) becomes clear that deg det (sE −A) = r. Since U and V are orthogonal
regular and having a zero at infinity. matrices the deg det (sE − A) = deg det (sE − A). Hence
Let the rank of E has rank less than n − 1 and right nullspace we have deg det (sE − A) = r = rank E. Therefore from
of E and A has a nonzero intersection. Corresponding to any proposition (4.3) there are no inadmissible initial conditions.
one column of the right nullspace of E which also corresponds (2 ⇒ 1) : We assume that there are no inadmissible initial
to a certain column in A perturb E such that rank(E) = n − 1 conditions for the singular system. Hence from proposition (4.3)
and right nullspace of E 0 contains the same column. Pertubing we have deg det (sE − A) = rank E = r. Using arguments
that particular column of A by a small amount except at the exactly like the previous part we have that if deg det (sE − A)
position corresponding to the position of one in the transpose has to be r then A4 has to be nonsingular. This implies that
of left null space of E 0 we get a perturbed pair (E 0 , A0 ) which dim(M A ker E) = n − r.
is regular and having a zero at infinity. Same procedure can be Theorem 4.4: For a regular matrix pencil (E, A) with
adopted if intersection occurs for left nullspaces of E and A or E, A ∈ Rn×n and rank (E) = n−1, the values of the minimum
if the intersection is nonzero for both left and right nullspaces norm for rank 1 perturbations on either A or E such that
E and A. In the latter case the common element on the row (E, A + ∆A ) or (E + ∆E , A) has a zero at infinity are:
and column corresponding to selected right and left nullspace Case 1:Rank 1 perturbation only on A:
of E should not be perturbed.
The following proposition characterize the condition for no σ1 0 ... 0
0 σ2 ... 0
zeros at infinity for the pencil in terms of the left and right null
.
.. .. ..
spaces of E acting on A. ..
E := . . .
Lemma 4.3: Let E ẋ = Ax, with E, A ∈ Rn×n describe an 0 . . . σn−1 0
autonomous singular state space system. Assume the rank of 0 ... ... 0
and Example
2:
a1,1 ... ... ... 9 0 0
... ... ... ... E = 0 6 0
A :=
... ... ... ...
0 0 0
...
... ... ...
2.5200 19.3340 23.9000
... ... ... an,n A = 12.5000 22.3400 6.9000