PERFORMANCE LIMITATIONS FOR A CLASS OF KLEINMAN CONTROL SYSTEMS

This paper provides preliminary results on performance limitations for a class of discrete time Kleinman control systems whose open loop poles lie strictly outside the unit circle. By exploiting the properties of the Kleinman controllers and using of algebraic Riccati equation (ARE), the relationship between total control energy of Kleinman control systems and the minimum energy needed to stabilize the open-loop systems is revealed. The result reflects how the horizon length of Kleinman controllers affects the performance of the closed-loop systems and quantifies how close the performance of Kleinman control systems is to the minimum energy.