RANDOMIZATION in SYSTEMS and CONTROL: a CHANGE of...
Transcript of RANDOMIZATION in SYSTEMS and CONTROL: a CHANGE of...
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RANDOMIZATION
in SYSTEMS and CONTROL:
a CHANGE of PERSPECTIVE
Marco C. Campi
with …
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Algo
Care’
Simone Garatti
Giuseppe
Calafiore
Maria Prandini
Erik Weyer
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outline:
what is a randomized algorithm?
focusing on randomization:
an example in estimation theory
where are we?
uncertain systems
(i)
(iii)
(ii)
(iv)
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an estimation problem
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an estimation problem
select
measure
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an estimation problem
select
measure
goal: provide an interval for
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an estimation problem
requirements:
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an estimation problem
no assumptions on
requirements:
(i)
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an estimation problem
we want to issue a certificate of
reliability on valid
no assumptions on
requirements:
(ii)
(i)
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is this at all possible?
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… no deterministic algorithmsolves the problem
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- take an input sequence
- measure
… no deterministic algorithmsolves the problem
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- take an input sequence
- measure
… no deterministic algorithmsolves the problem
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- take an input sequence
- measure
… no deterministic algorithmsolves the problem
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- a deterministic algorithm that comes
with a certificate of reliability does not
exist!
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- a deterministic algorithm that comes
with a certificate of reliability does not
exist!
- shall we give up?
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a change of perspective
moving one step ahead …
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Algorithm
1) (R. Fisher)
a change of perspective
moving one step ahead …
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Algorithm
1)
2) needs some
explanation
(R. Fisher)
(work done with E. Weyer)
a change of perspective
moving one step ahead …
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explaining
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explaining
-45 degrees line
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explaining
-45 degrees line
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explaining
-45 degrees line
construct some averages:
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explaining
numerical example:
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explaining
numerical example:
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explaining
numerical example:
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explaining
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explaining
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explaining
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explaining
= not all functions are positive or all are negative
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explaining
= not all functions are positive or all are negative
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Theorem (with E. Weyer)
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Theorem (with E. Weyer)
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Theorem (with E. Weyer)
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Theorem (with E. Weyer)
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Theorem (with E. Weyer)
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Theorem (consistency)
Theorem (with E. Weyer)
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in summary:
for any :
shrinks around as N increases
the size of depends on the strength of
the noise
with a precise probability(i)
(ii)
(iii)
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how is all this possible?
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what is a randomized algorithm?
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deterministic algorithm
IN
OUT
source 1
source 2
STEP 1
STEP 2
STEP 3
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deterministic algorithm
STEP 1:
selection of
STEP 2:
application of
IN
OUT
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STEP 1:
random selection of
STEP 2:
application of
IN
OUT
randomized algorithm
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randomized algorithm
a randomized algorithm is an algorithm
where one or more steps are based on a
random choice
that is – among many deterministic choices –
one choice is selected at random according
to a probability P
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randomized algorithm
a randomized algorithm is an algorithm
where one or more steps are based on a
random choice
that is – among many deterministic choices –
one choice is selected at random according
to a probability P
why is this useful?
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deterministic vs. randomized
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deterministic vs. randomized
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deterministic vs. randomized
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deterministic vs. randomized
de
term
inis
tic
alg
ori
thm
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deterministic vs. randomized
randomizedalgorithm P
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deterministic vs. randomized
randomizedalgorithm P
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deterministic vs. randomized
randomizedalgorithm P
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deterministic vs. randomized
randomizedalgorithm P
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deterministic vs. randomized
randomizedalgorithm P
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deterministic vs. randomized
randomizedalgorithm P
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deterministic vs. randomized
randomizedalgorithm P
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successful algorithm
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successful algorithm
Definition 1 (successful deterministic algorithm)
An algorithm is successful if, in all situations, it
provides a correct answer.
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successful algorithm
Definition 1 (successful deterministic algorithm)
An algorithm is successful if, in all situations, it
provides a correct answer.
Definition 2 (probabilistically successful algorithm)
An algorithm is successful with probability p if, in all
situations, its probability to provide a correct answer
is at least p.
… a change of perspective:
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successful algorithm
Definition 1 (successful deterministic algorithm)
An algorithm is successful if, in all situations, it
provides a correct answer.
Definition 2 (probabilistically successful algorithm)
An algorithm is successful with probability p if, in all
situations, its probability to provide a correct answer
is at least p.
… a change of perspective:
this offers an extraordinary opportunity to satisfactorily
solve “hopeless” problems
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comments
P exists in the algorithm
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comments
P exists in the algorithm
Bayesian perspective
Q
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comments
P exists in the algorithm
(1) the result holds with high probability with respect to the
situation of application
Bayesian perspective
Q
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comments
P exists in the algorithm
(1)
(2)
the result holds with high probability with respect to the
situation of application
Q describes reality poor modeling
Bayesian perspective
Q
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comments
P exists in the algorithm
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comments
P exists in the algorithm
often the chance of failure can be made very small
(concentration inequalities)
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comments
P exists in the algorithm
often the chance of failure can be made very small
(concentration inequalities)
Monte Carlo computation of an integral:
![Page 68: RANDOMIZATION in SYSTEMS and CONTROL: a CHANGE of …marco-campi.unibs.it/randomization-sys-control.pdf · uncertain systems many contributors: - aerospace - adaptive control - network](https://reader031.fdocuments.net/reader031/viewer/2022021823/5b3720a57f8b9aad388dee85/html5/thumbnails/68.jpg)
comments
P exists in the algorithm
often the chance of failure can be made very small
(concentration inequalities)
Monte Carlo computation of an integral:
![Page 69: RANDOMIZATION in SYSTEMS and CONTROL: a CHANGE of …marco-campi.unibs.it/randomization-sys-control.pdf · uncertain systems many contributors: - aerospace - adaptive control - network](https://reader031.fdocuments.net/reader031/viewer/2022021823/5b3720a57f8b9aad388dee85/html5/thumbnails/69.jpg)
comments
P exists in the algorithm
often the chance of failure can be made very small
(concentration inequalities)
Monte Carlo computation of an integral:
![Page 70: RANDOMIZATION in SYSTEMS and CONTROL: a CHANGE of …marco-campi.unibs.it/randomization-sys-control.pdf · uncertain systems many contributors: - aerospace - adaptive control - network](https://reader031.fdocuments.net/reader031/viewer/2022021823/5b3720a57f8b9aad388dee85/html5/thumbnails/70.jpg)
comments
P exists in the algorithm
often the chance of failure can be made very small
(concentration inequalities)
Monte Carlo computation of an integral:
![Page 71: RANDOMIZATION in SYSTEMS and CONTROL: a CHANGE of …marco-campi.unibs.it/randomization-sys-control.pdf · uncertain systems many contributors: - aerospace - adaptive control - network](https://reader031.fdocuments.net/reader031/viewer/2022021823/5b3720a57f8b9aad388dee85/html5/thumbnails/71.jpg)
comments
P exists in the algorithm
often the chance of failure can be made very small
(concentration inequalities)
![Page 72: RANDOMIZATION in SYSTEMS and CONTROL: a CHANGE of …marco-campi.unibs.it/randomization-sys-control.pdf · uncertain systems many contributors: - aerospace - adaptive control - network](https://reader031.fdocuments.net/reader031/viewer/2022021823/5b3720a57f8b9aad388dee85/html5/thumbnails/72.jpg)
comments
P exists in the algorithm
often the chance of failure can be made very small
(concentration inequalities)
amazingly powerful results from probability theory
can be used to assess the probability of success
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where are we?
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computer science
Monte Carlo method (1949)
optimization
- sorting
- counting
- incremental geometric constructions
- etc.
- simulating annealing
- genetic methods
- large-scale convex optimization
- etc.
little in systems and control
where are we?
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uncertain systems
many contributors:
- aerospace
- adaptive control
- network control
-etc.
T. Alamo, E.W. Bai, B.R. Barmish, T. Basar, G. Calafiore, A. Chaouki, F.
Dabbene, B. De Shutter, L. El Ghaoui, M. Fu, Y. Fujisaki, S. Garatti, H.
Ishii, S. Kanev, H. Kimura, C. Lagoa, S.P. Meyn, Y. Oishi, B. Polyak, M.
Prandini, P. Shcherbakov, J. Spall, R.F. Stengel, M. Sznaier, V.B. Tadic,
R. Tempo, B. Van Roy, M. Verhagen, M. Vidyasagar, K. Zhou
R. Tempo, G. Calafiore, and F. Dabbene (2005). “Randomized
algorithms for analysis and control of uncertain systems”.
Springer-Verlag.
where are we in systems and control?
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robust min-max design (convex)
uncertain systems: design
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robust min-max design (convex)
(non-convex Alamo, Camacho, Tempo)
uncertain systems: design
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a successful story of randomization:
robust min-max convex design
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a successful story of randomization:
robust min-max convex design
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robust min-max design is hard!
a successful story of randomization:
robust min-max convex design
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Example: feedforward noise compensation
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Example: feedforward noise compensation
CompensatorARMAX
System
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Example: feedforward noise compensation
CompensatorARMAX
System
Objective: reduce the effect of noise on y
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Example: feedforward noise compensation
CompensatorARMAX
System
ARMAX System:
Compensator:
Goal:
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Example: feedforward noise compensation
CompensatorARMAX
System
ARMAX System:
Compensator:
Goal:
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Example: feedforward noise compensation
system parameters unknown:
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Example: feedforward noise compensation
system parameters unknown:
robust min-max design:
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Example: feedforward noise compensation
system parameters unknown:
even a problem as simple as this is difficult for a generic
robust min-max design:
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other problems in robust control
state-feedback stabilization
LPV control
control
control
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other problems in robust control
state-feedback stabilization
LPV control
control
control
… and systems theory
model reduction
prediction
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- robust min-max design is hard!
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- what can we do?
- robust min-max design is hard!
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- we need to accept a compromise
- what can we do?
- robust min-max design is hard!
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chance-constrained optimization
performance is not
guaranteed
performance isrobust
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The “scenario” paradigm (work done with G.
Calafiore, S. Garatti)
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The “scenario” paradigm (work done with G.
Calafiore, S. Garatti)
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The “scenario” paradigm (work done with G.
Calafiore, S. Garatti)
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The “scenario” paradigm (work done with G.
Calafiore, S. Garatti)
SPN = scenario program
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SPN is a standard finite convex optimization problem
SPN = scenario program
The “scenario” paradigm (work done with G.
Calafiore, S. Garatti)
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is superoptimal
The “scenario” paradigm (work done with G.
Calafiore, S. Garatti)
SPN is a standard finite convex optimization problem
SPN = scenario program
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Fundamental
question: How robust is ?
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Fundamental
question: How robust is ?
is it robust?
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Fundamental
question:
from the “visible” to the “invisible”
How robust is ?
is it robust?
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Theorem (with S. Garatti – G. Calafiore)
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Theorem (with S. Garatti – G. Calafiore)
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Theorem (with S. Garatti – G. Calafiore)
applicable to all convex problems!
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Example: feedforward noise compensation
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Example: feedforward noise compensation
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Example: feedforward noise compensation
sample:
solve:
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Example: feedforward noise compensation
Output variance below 1.16 for all plants but a
small fraction (1%)
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Example: feedforward noise compensation
Output variance below 1.16 for all plants but a
small fraction (1%)
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once more, a tough problem has turned into
a solvable one through randomization, …
provided we accept an risk
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… in conclusion
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… in conclusion
- randomization changes our perspective of problem
solvability
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… in conclusion
- the probability of success depends on an artificial P
and can be assessed with extraordinarily powerful
probabilistic tools
- randomization changes our perspective of problem
solvability
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… in conclusion
- the probability of success depends on an artificial P
and can be assessed with extraordinarily powerful
probabilistic tools
- randomization changes our perspective of problem
solvability
- it’s just a paradigm;
each single problem has to be studied separately
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… in conclusion
- can prove useful in many more problems in systems and
control, especially at the boundary of control, communication
and computation
- it’s just a paradigm;
each single problem has to be studied separately
- the probability of success depends on an artificial P
and can be assessed with extraordinarily powerful
probabilistic tools
- randomization changes our perspective of problem
solvability
![Page 119: RANDOMIZATION in SYSTEMS and CONTROL: a CHANGE of …marco-campi.unibs.it/randomization-sys-control.pdf · uncertain systems many contributors: - aerospace - adaptive control - network](https://reader031.fdocuments.net/reader031/viewer/2022021823/5b3720a57f8b9aad388dee85/html5/thumbnails/119.jpg)
THANK YOU
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REFERENCES
M.C. Campi.
Why is resorting to fate wise? A critical look at randomized algorithms in systems and control
European J. of Control, 16, no.5: 419-430, 2010.
M.C. Campi and E. Weyer.
Non-asymptotic confidence sets for the parameters of linear transfer functions.
IEEE Trans. on Automatic Control, December 2010.
M.C. Campi and S. Garatti.
The Exact Feasibility of Randomized Solutions of Uncertain Convex Programs.
SIAM J. on Optimization, 19, no.3: 1211-1230, 2008.
G. Calafiore and M.C. Campi.
Uncertain Convex Programs: randomized Solutions and Confidence Levels.
Mathematical Programming, 102: 25-46, 2005.
G. Calafiore and M.C. Campi.
The Scenario Approach to Robust Control Design.
IEEE Trans. on Automatic Control, AC-51: 742-753, 2006.
THANKS TO:
T. Alamo, S. Bittanti, G. Calafiore, F. Dabbene, Y. Fujisaki, S. Garatti, M. Gevers, C. Lagoa, Y. Oishi, S. Mitter, A. Nemirovski, B. Polyak, M. Prandini, M. Sznaier, R. Tempo, M. Vidyasagar, J. Willems