Robust peak-to-peak gain analysis using integral quadratic constraints

Abstract

This work provides a framework to compute an upper bound on the robust peak-to-peak gain of discrete-time uncertain linear systems using integral quadratic constraints (IQCs). Such bounds are of particular interest in the computation of reachable sets and the ℓ1-norm, as well as when safety-critical constraints need to be satisfied pointwise in time. The use of ρ-hard IQCs with a terminal cost enables us to deal with a wide variety of uncertainty classes, for example, we provide ρ-hard IQCs with a terminal cost for the class of parametric uncertainties. This approach unifies, generalizes, and significantly improves state-of-the-art methods, which is also demonstrated in a numerical example.