Lecture Notes in Control and Information Sciences 389 Editors:M.Thoma,F.Allgöwer,M.Morari Rafael Bru and Sergio Romero-Vivó (Eds.) Positive Systems Proceedings of the third Multidisciplinary International Symposium on Positive Systems: Theory and Applications (POSTA 2009) Valencia, Spain, September 2–4, 2009 ABC SeriesAdvisoryBoard P.Fleming,P.Kokotovic, A.B.Kurzhanski,H.Kwakernaak, A.Rantzer,J.N.Tsitsiklis Editors RafaelBru InstitutoUniversitariode MatemáticaMultidisciplinar, UniversidadPolitécnicadeValencia, CamídeVeras/n, 46022Valencia Spain E-mail:[email protected] SergioRomero-Vivó InstitutoUniversitariode MatemáticaMultidisciplinar, UniversidadPolitécnicadeValencia, CamídeVeras/n, 46022Valencia Spain E-mail:[email protected] ISBN978-3-642-02893-9 e-ISBN978-3-642-02894-6 DOI 10.1007/978-3-642-02894-6 LectureNotesinControlandInformationSciences ISSN0170-8643 LibraryofCongressControlNumber:Appliedfor (cid:2)c2009Springer-VerlagBerlinHeidelberg Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialis concerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting, reproductiononmicrofilmorinanyotherway,andstorageindatabanks.Duplicationofthispublication orpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember 9, 1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.Violations areliableforprosecutionundertheGermanCopyrightLaw. Theuseofgeneral descriptive names,registered names,trademarks, etc. inthis publication does not imply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotective lawsandregulationsandthereforefreeforgeneraluse. Typeset&CoverDesign:ScientificPublishingServicesPvt.Ltd.,Chennai,India. Printedinacid-freepaper 543210 springer.com Preface Nowadays,theresearchersintoControlTheoryanditsApplicationsaswellas MatrixAnalysisarewellawareandrecognizetheimportanceofPositiveSys- tems. This volume contains the proceedings of the “Third Multidisciplinary SymposiumonPositiveSystems:TheoryandApplications(POSTA09)”held in Valencia, Spain, September 2–4, 2009. At present, this is the only world congress whose main topic is focused on this field. After this third event, we thinkthatwehaveestablishedthebasisofaregulartriennialeventsupported in the task of the previous organizing committees and hope to have met the requirements of their expectations. This POSTA09 meeting has been organized by members of the “Univer- sitat Polit`ecnica de Val`encia”, who have taken their doctor’s degree in the subjects of the conference. We are grateful to all of them for their enthu- siasm, effort and especially their collaboration, without the help of which the outcome would have never been the same. Also, we highly appreciate Christian Commault for having his experience at our disposal. Besides that, we wish to thank the International Programme Committee components and additional referees for their outstanding work in the review process of the contributions. We are happy to say that their constructive suggestions and positive comments have improved the quality of the presentations. We are very much obliged to the following organizations for having fi- nancially backed this congress: “Ministerio de Educacio´n y Ciencia”, “Con- selleriad’Educacio´delaGeneralitatValenciana”,“UniversitatPolit`ecnicade Val`encia(UPV)”and“SociedadEspan˜oladeMatema´ticaAplicada(SEMA)”. Weextendourgratitudetothe“InternationalLinearAlgebraSociety(ILAS)”, “Institut Universitari de Matema`tica Multidisciplina`ria (IMM)” and the “A´lgebra Lineal, Ana´lisis Matricial y Aplicaciones (ALAMA)” network for having endorsed this meeting. Finally, we would like to thank all of the par- ticipantsfortheirattendanceinspiteofthesehardtimes.Theirpresencehere reassertsthe success of this conference and we hope to see them successively in the future. Valencia, Rafael Bru September 2009 Sergio Romero-Viv´o Organization Program Committee Chairman Rafael Bru Universitat Polit`ecnica de Val`encia, Spain Members Georges Bastin Universit´e Catholique de Louvain, Belgium Luca Benvenuti Universita` di Roma “La Sapienza”, Italy Vincent Blondel Universit´e Catholique de Louvain, Belgium Rafael Canto´ Universitat Polit`ecnica de Val`encia, Spain Carmen Coll Universitat Polit`ecnica de Val`encia, Spain Bart De Moor Katholieke Universiteit Leuven, Belgium Alberto De Santis Universita` di Roma “La Sapienza”, Italy Elena De Santis Universita` dell’Aquila, Italy Lorenzo Farina Universita` di Roma “La Sapienza”, Italy Stephane Gaubert INRIA, Ecole Polytechnique, France Alessandro Giua Universita` di Cagliari, Italy Jean-Luc Gouz´e INRIA Sophia Antipolis, France Diederich Hinrichsen Universita¨t Bremen, Germany Tadeusz Kaczorek Warsaw University of Technology, Poland Ulrich Krause Universita¨t Bremen, Germany Volker Mehrmann Technische Universita¨t Berlin, Germany Ventsi Rumchev Curtin University of Technology, Australia Maria Pia Saccomani Universita` di Padova, Italy Elena Sa´nchez Universitat Polit`ecnica de Val`encia, Spain Jan H. van Schuppen CWI, Amsterdam, The Netherlands Robert Shorten The Hamilton Institute, Co. Kildare, Ireland Anton A. Stoorvogel University of Twente, The Netherlands VIII Organization Ana M. Urbano Universitat Polit`ecnica de Val`encia, Spain Maria Elena Valcher Universita` di Padova, Italy Paul Van Dooren Universit´e Catholique de Louvain, Belgium Joseph Winkin Universit´e Notre-Dame de la Paix, Belgium Organizing Committee Begon˜a Canto´ Universitat Polit`ecnica de Val`encia, Spain Rafael Canto´ Universitat Polit`ecnica de Val`encia, Spain Beatriz Ricarte Universitat Polit`ecnica de Val`encia, Spain Sergio Romero-Viv´o Universitat Polit`ecnica de Val`encia, Spain Additional Referees Esteban Bailo Maya Mincheva Gregory Batt Francisco Pedroche Begon˜a Canto´ Juan Manuel Pen˜a Bart De Schutter Harish Pillai Zong Woo “Victor” Geem Beatriz Ricarte Josep Gelonch Sergio Romero-Viv´o Bernd Heidergott Bartek Roszak Julien Hendrickx Boris Shapiro On´esimo Hern´andez-Lerma Hal L. Smith Alexandros Karatzoglou Juan Ramon Torregrosa Jerzy Klamka Elena Virnik Thomas G. Kurtz Yimin Wei Hongwei Lin Eva Zerz James H. Liu Contents Plenary Talks Reputation Systems and Nonnegativity...................... 3 Cristobald de Kerchove, Paul Van Dooren Lyapunov Exponents and Uniform Weak Normally Repelling Invariant Sets ..................................... 17 Paul Leonard Salceanu, Hal L. Smith Reachability Analysis for Different Classes of Positive Systems ..................................................... 29 Maria Elena Valcher Invited Sessions On the Positive LQ-Problem for Linear Discrete Time Systems ..................................................... 45 Charlotte Beauthier, Joseph J. Winkin The Importance of Being Positive: Admissible Dynamics for Positive Systems ......................................... 55 Luca Benvenuti, Lorenzo Farina Detectability, Observability, and Asymptotic Reconstructability of Positive Systems....................... 63 Tobias Damm, Cristina Ethington Stability Radii of Interconnected Positive Systems with Uncertain Couplings......................................... 71 Diederich Hinrichsen X Contents Linear Operators Preserving the Set of Positive (Nonnegative) Polynomials .................................. 83 Olga M. Katkova, Anna M. Vishnyakova Convergence to Consensus by General Averaging ............ 91 Dirk A. Lorenz, Jan Lorenz Stability and D-stability for Switched Positive Systems ...... 101 Oliver Mason, Vahid S. Bokharaie, Robert Shorten On Positivity and Stability of Linear Volterra-Stieltjes Differential Systems ......................................... 111 Pham Huu Anh Ngoc Eigenvalue Localization for Totally Positive Matrices ........ 123 Juan Manuel Pen˜a Positivity Preserving Model Reduction ...................... 131 Timo Reis, Elena Virnik The Minimum Energy Problem for Positive Discrete-Time Linear Systems with Fixed Final State....................... 141 Ventsi Rumchev, Siti Chotijah A Rollout Algorithm for Multichain Markov Decision Processes with Average Cost ................................ 151 Tao Sun, Qianchuan Zhao, Peter B. Luh Analysis of Degenerate Chemical Reaction Networks ........ 163 Markus Uhr, Hans-Michael Kaltenbach, Carsten Conradi, J¨org Stelling k-Switching Reachability Sets of Continuous-Time Positive Switched Systems............................................ 173 Maria Elena Valcher Contributed Papers Inverse-Positive Matrices with Checkerboard Pattern........ 185 Manuel F. Abad, Mar´ıa T. Gasso´, Juan R. Torregrosa Some Remarks on Links between Positive Invariance, Monotonicity, Strong Lumpability and Coherency in Max-Plus Algebra ........................................... 195 Mourad Ahmane, Laurent Truffet Contents XI Stability Analysis and Synthesis for Linear Positive Systems with Time-Varying Delays .......................... 205 Mustapha Ait Rami Linear Programming Approach for 2-D Stabilization and Positivity.................................................... 217 Mohammed Alfidi, Abdelaziz Hmamed, Fernando Tadeo An Algorithmic Approach to Orders of Magnitude in a Biochemical System ......................................... 233 Eric Benoˆıt, Jean-Luc Gouz´e Structural Identifiability of Linear Singular Dynamic Systems ..................................................... 243 Begon˜a Cant´o, Carmen Coll, Elena Sa´nchez On Positivity of Discrete-Time Singular Systems and the Realization Problem ......................................... 251 Rafael Cant´o, Beatriz Ricarte, Ana M. Urbano Multi-Point Iterative Methods for Systems of Nonlinear Equations.................................................... 259 Alicia Cordero, Jos´e L. Hueso, Eulalia Mart´ınez, Juan R. Torregrosa Identifiability of Nonaccessible Nonlinear Systems ........... 269 Leontina D’Angi , Maria Pia Saccomani, Stefania Audoly, Giuseppina Bellu Trajectory Tracking Control of a Timed Event Graph with Specifications Defined by a P-time Event Graph ............. 279 Philippe Declerck, Abdelhak Guezzi Tropical Scaling of Polynomial Matrices ..................... 291 St´ephane Gaubert, Meisam Sharify Scrutinizing Changes in the Water Demand Behavior........ 305 Manuel Herrera, Rafael P´erez-Garc´ıa, Joaqu´ın Izquierdo, Idel Montalvo Characterization of Matrices with Nonnegative Group-Projector............................................. 315 Alicia Herrero, Francisco J. Ram´ırez, N´estor Thome Robust Design of Water Supply Systems through Evolutionary Optimization................................... 321 Joaqu´ın Izquierdo, Idel Montalvo, Rafael P´erez-Garc´ıa, Manuel Herrera