Experimental results Table 4 shows the average compression results, in bits per pixel, for the three sets of images described previously see Section 3.. The average results presented tak
Trang 2the image “1230c1G”: (a) when encoding bitplane 14 (seven bits of context); (b) when encoding
bitplane 13 (11 bits of context); (c) when encoding bitplane 12 (13 bits of context); (d) when
encoding bitplane 11 (17 bits of context); (e) when encoding bitplane 10 (20 bits of context)
Context positions falling outside the image at the image borders are considered as having zero
value
approximately 21 million pixels) required about 220 minutes to compress when the whole
image was used to performed the search When we used a region of 256×256 pixels, it
required approximately 6 minutes to compress the MicroZip test set (about 2 minutes more
than the image-independent approach) These three images have sizes of 1916×1872, 5496×
1956 and 3625×1929 pixels Decoding is faster, because the decoder does not have to search
for the best context: that information is embedded in the bitstream
6 Experimental results
Table 4 shows the average compression results, in bits per pixel, for the three sets of images
described previously (see Section 3) In this table, we present experimental results of both the
image-independent and the image-dependent approaches We also include results obtained
with SPIHT (Said and Pearlman, 1996)4and EIDAC (Yoo et al., 1998)
Comparing with the results presented in Table 1, we can see that the fast version of the
image-dependent method (indicated as “256×256” in the table) is 6.3% better than JBIG, 4.7%
bet-ter than JPEG-LS and 8.6% betbet-ter than lossless JPEG2000 It is important to remember that
JPEG-LS does not provide progressive decoding, a characteristic that is intrinsic to the
image-dependent multi-bitplane finite-context method and also to JPEG2000 and JBIG From the
re-sults presented in Table 4, it can also be seen that using an area of 256×256 pixels in the center
of the image for finding the context, instead of the whole image, leads to a small degradation
in the performance (about 0.3%), showing the appropriateness of this approach
4 SPIHT codec from http://www.cipr.rpi.edu/research/SPIHT/ (version 8.01).
image-of the microarray image, whereas “Full” indicates that the search was performed in the wholeimage The average results presented take into account the different sizes of the images, i.e.,they correspond to the total number of bits divided by the total number of image pixels
Table 5 confirms the performance of the image-dependent method relatively to two recentspecialized methods for compressing microarray images: MicroZip (Lonardi and Luo, 2004)and Zhang’s method (Adjeroh et al., 2006; Zhang et al., 2005) As can be observed, the image-dependent multi-bitplane finite-context method provides compression gains of 9.1% relatively
to MicroZip and 6.2% in relation to Zhang’s method, on a set of test images that has been used
by all these methods
Figure 11 shows, for three different images, the average number of bits per pixel that areneeded for representing each bitplane As expected, this value generally increases whengoing from most significant bitplanes to least significant bitplanes For the case of images
“Def661Cy3” and “1230c1G”, it can be seen that the average number of bits per pixel quired by the eight least significant bitplanes is close to one, as pointed out by Jörnsten et al.(2003) However, image “array3” shows a different behavior Because this image is lessnoisy, the compression algorithm is able to exploit redundancies even in lower bitplanes This
re-is done without compromre-ising the compression efficiency of nore-isy images, due to the anism that monitors and controls the average number of bits per pixel required for encodingeach bitplane
mech-The maximum number of context bits that we allowed for building the contexts was limited
to 20 Since the coding alphabet is binary, this implies, at most, 2×220 =2 097 152 countersthat can be stored in approximately 8 MBytes of computer memory In a 2 GHz Pentium 4
Trang 3the image “1230c1G”: (a) when encoding bitplane 14 (seven bits of context); (b) when encoding
bitplane 13 (11 bits of context); (c) when encoding bitplane 12 (13 bits of context); (d) when
encoding bitplane 11 (17 bits of context); (e) when encoding bitplane 10 (20 bits of context)
Context positions falling outside the image at the image borders are considered as having zero
value
approximately 21 million pixels) required about 220 minutes to compress when the whole
image was used to performed the search When we used a region of 256×256 pixels, it
required approximately 6 minutes to compress the MicroZip test set (about 2 minutes more
than the image-independent approach) These three images have sizes of 1916×1872, 5496×
1956 and 3625×1929 pixels Decoding is faster, because the decoder does not have to search
for the best context: that information is embedded in the bitstream
6 Experimental results
Table 4 shows the average compression results, in bits per pixel, for the three sets of images
described previously (see Section 3) In this table, we present experimental results of both the
image-independent and the image-dependent approaches We also include results obtained
with SPIHT (Said and Pearlman, 1996)4and EIDAC (Yoo et al., 1998)
Comparing with the results presented in Table 1, we can see that the fast version of the
image-dependent method (indicated as “256×256” in the table) is 6.3% better than JBIG, 4.7%
bet-ter than JPEG-LS and 8.6% betbet-ter than lossless JPEG2000 It is important to remember that
JPEG-LS does not provide progressive decoding, a characteristic that is intrinsic to the
image-dependent multi-bitplane finite-context method and also to JPEG2000 and JBIG From the
re-sults presented in Table 4, it can also be seen that using an area of 256×256 pixels in the center
of the image for finding the context, instead of the whole image, leads to a small degradation
in the performance (about 0.3%), showing the appropriateness of this approach
4 SPIHT codec from http://www.cipr.rpi.edu/research/SPIHT/ (version 8.01).
Image set SPIHT EIDAC Image Image-dependent
independent 256×256 Full APO_AI 10.812 10.543 10.280 10.225 10.194 ISREC 11.098 10.446 10.199 10.198 10.158 MicroZip 9.198 8.837 8.840 8.667 8.619
Average 10.378 10.005 9.826 9.741 9.708
Table 4 Average compression results, in bits per pixel, using SPIHT, EIDAC, the independent and the image-dependent methods The “256×256” column indicates resultsobtained with a context model adjusted using only a square of 256×256 pixels at the center
image-of the microarray image, whereas “Full” indicates that the search was performed in the wholeimage The average results presented take into account the different sizes of the images, i.e.,they correspond to the total number of bits divided by the total number of image pixels
Table 5 confirms the performance of the image-dependent method relatively to two recentspecialized methods for compressing microarray images: MicroZip (Lonardi and Luo, 2004)and Zhang’s method (Adjeroh et al., 2006; Zhang et al., 2005) As can be observed, the image-dependent multi-bitplane finite-context method provides compression gains of 9.1% relatively
to MicroZip and 6.2% in relation to Zhang’s method, on a set of test images that has been used
by all these methods
Images MicroZip Zhang Image Image-dependent
independent 256×256 Full array1 11.490 11.380 11.105 11.120 11.056 array2 9.570 9.260 8.628 8.470 8.423 array3 8.470 8.120 7.962 7.717 7.669
Figure 11 shows, for three different images, the average number of bits per pixel that areneeded for representing each bitplane As expected, this value generally increases whengoing from most significant bitplanes to least significant bitplanes For the case of images
“Def661Cy3” and “1230c1G”, it can be seen that the average number of bits per pixel quired by the eight least significant bitplanes is close to one, as pointed out by Jörnsten et al.(2003) However, image “array3” shows a different behavior Because this image is lessnoisy, the compression algorithm is able to exploit redundancies even in lower bitplanes This
re-is done without compromre-ising the compression efficiency of nore-isy images, due to the anism that monitors and controls the average number of bits per pixel required for encodingeach bitplane
mech-The maximum number of context bits that we allowed for building the contexts was limited
to 20 Since the coding alphabet is binary, this implies, at most, 2×220 =2 097 152 countersthat can be stored in approximately 8 MBytes of computer memory In a 2 GHz Pentium 4
Trang 40 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Bitplane
Def661Cy3 1230c1G array3
Fig 11 Average number of bits per pixel required for encoding each bitplane of three different
microarray images (one from each test set)
computer with 512 MBytes of memory, the image-dependent algorithm required about six
minutes to compress the MicroZip test set (note that this compression time is only indicative,
because the code has not been optimized for speed) Decoding is faster, because the decoder
does not have to search for the best context Just for comparison, the codecs of the compression
standards took approximately one minute to encode the same set of images
7 Conclusions
The use of microarray expression data in state-of-the-art biology has been well established
The widespread adoption of this technology, coupled with the significant volume of data
gen-erated per experiment, in the form of images, has led to significant challenges in storage and
query-retrieval In this work, we have studied the problem of coding this type of images
We presented a set of comprehensive results regarding the lossless compression of
microar-ray images by state-of-the-art image coding standards, namely, lossless JPEG2000, JBIG and
JPEG-LS From the experimental results obtained, we conclude that JPEG-LS gives the best
lossless compression performance However, it lacks lossy-to-lossless capability, which may
be a decisive functionality if remote transmission over possibly slow links is a requirement
Complying to this requirement we find JBIG and lossless JPEG2000, lossless JPEG2000 being
the best considering rate-distortion in the sense of the L2-norm and JBIG the most efficient
when considering the L∞-norm Moreover, JBIG is consistently better than lossless JPEG2000
regarding lossless compression ratios
Motivated by these findings, we have developed efficient methods for lossless compression
of microarray images, allowing progressive, lossy-to-lossless decoding These methods are
based on bitplane compression using image-independent or image-dependent finite-context
models and arithmetic coding They do not require griding and/or segmentation as most
of the specialized methods that have been proposed do This may be an advantage if only
compression is sought, since it reduces the complexity of the method Moreover, since they
do not require griding, they are robust, for example, against layout changes in spot placement
The results obtained by the multi-bitplane context-based methods have been compared withthe three image coding standards and with two recent specialized methods: MicroZip andZhang’s method The results obtained show that these new methods have better compressionperformance in all image test sets used
8 References
Adjeroh, D., Y Zhang, and R Parthe (2006, February) On denoising and compression of DNA
microarray images Pattern Recognition 39, 2478–2493.
Bell, T C., J G Cleary, and I H Witten (1990) Text compression Prentice Hall.
Faramarzpour, N and S Shirani (2004, March) Lossless and lossy compression of DNA
mi-croarray images In Proc of the Data Compression Conf., DCC-2004, Snowbird, Utah,
pp 538
Faramarzpour, N., S Shirani, and J Bondy (2003, November) Lossless DNA microarray
im-age compression In Proc of the 37th Asilomar Conf on Signals, Systems, and Computers,
2003, Volume 2, pp 1501–1504.
Hampel, H., R B Arps, C Chamzas, D Dellert, D L Duttweiler, T Endoh, W Equitz, F Ono,
R Pasco, I Sebestyen, C J Starkey, S J Urban, Y Yamazaki, and T Yoshida (1992,April) Technical features of the JBIG standard for progressive bi-level image com-
pression Signal Processing: Image Communication 4(2), 103–111.
Hegde, P., R Qi, K Abernathy, C Gay, S Dharap, R Gaspard, J Earle-Hughes, E Snesrud,
N Lee, and J Q (2000, September) A concise guide to cDNA microarray analysis
Biotechniques 29(3), 548–562.
Hua, J., Z Liu, Z Xiong, Q Wu, and K Castleman (2003, September) Microarray BASICA:
background adjustment, segmentation, image compression and analysis of
microar-ray images In Proc of the IEEE Int Conf on Image Processing, ICIP-2003, Volume 1,
Barcelona, Spain, pp 585–588
Hua, J., Z Xiong, Q Wu, and K Castleman (2002, October) Fast segmentation and
lossy-to-lossless compression of DNA microarray images In Proc of the Workshop on Genomic
Signal Processing and Statistics, GENSIPS, Raleigh, NC.
ISO/IEC (1993, March) Information technology - Coded representation of picture and audio
infor-mation - progressive bi-level image compression International Standard ISO/IEC 11544
and ITU-T Recommendation T.82
ISO/IEC (1999) Information technology - Lossless and near-lossless compression of continuous-tone
still images ISO/IEC 14495–1 and ITU Recommendation T.87.
ISO/IEC (2000a) Information technology - JPEG 2000 image coding system ISO/IEC International
Standard 15444–1, ITU-T Recommendation T.800
ISO/IEC (2000b) JBIG2 bi-level image compression standard International Standard ISO/IEC
14492 and ITU-T Recommendation T.88
Jörnsten, R., W Wang, B Yu, and K Ramchandran (2003) Microarray image compression:
SLOCO and the effect of information loss Signal Processing 83, 859–869.
Jörnsten, R and B Yu (2000, March) Comprestimation: microarray images in abundance In
Proc of the Conf on Information Sciences, Princeton, NJ.
Jörnsten, R and B Yu (2002, July) Compression of cDNA microarray images In Proc of the
IEEE Int Symposium on Biomedical Imaging, ISBI-2002, Washington, DC, pp 38–41.
Jörnsten, R., B Yu, W Wang, and K Ramchandran (2002a, September) Compression of cDNA
and inkjet microarray images In Proc of the IEEE Int Conf on Image Processing,
ICIP-2002, Volume 3, Rochester, NY, pp 961–964.
Trang 50 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Bitplane
Def661Cy3 1230c1G array3
Fig 11 Average number of bits per pixel required for encoding each bitplane of three different
microarray images (one from each test set)
computer with 512 MBytes of memory, the image-dependent algorithm required about six
minutes to compress the MicroZip test set (note that this compression time is only indicative,
because the code has not been optimized for speed) Decoding is faster, because the decoder
does not have to search for the best context Just for comparison, the codecs of the compression
standards took approximately one minute to encode the same set of images
7 Conclusions
The use of microarray expression data in state-of-the-art biology has been well established
The widespread adoption of this technology, coupled with the significant volume of data
gen-erated per experiment, in the form of images, has led to significant challenges in storage and
query-retrieval In this work, we have studied the problem of coding this type of images
We presented a set of comprehensive results regarding the lossless compression of
microar-ray images by state-of-the-art image coding standards, namely, lossless JPEG2000, JBIG and
JPEG-LS From the experimental results obtained, we conclude that JPEG-LS gives the best
lossless compression performance However, it lacks lossy-to-lossless capability, which may
be a decisive functionality if remote transmission over possibly slow links is a requirement
Complying to this requirement we find JBIG and lossless JPEG2000, lossless JPEG2000 being
the best considering rate-distortion in the sense of the L2-norm and JBIG the most efficient
when considering the L∞-norm Moreover, JBIG is consistently better than lossless JPEG2000
regarding lossless compression ratios
Motivated by these findings, we have developed efficient methods for lossless compression
of microarray images, allowing progressive, lossy-to-lossless decoding These methods are
based on bitplane compression using image-independent or image-dependent finite-context
models and arithmetic coding They do not require griding and/or segmentation as most
of the specialized methods that have been proposed do This may be an advantage if only
compression is sought, since it reduces the complexity of the method Moreover, since they
do not require griding, they are robust, for example, against layout changes in spot placement
The results obtained by the multi-bitplane context-based methods have been compared withthe three image coding standards and with two recent specialized methods: MicroZip andZhang’s method The results obtained show that these new methods have better compressionperformance in all image test sets used
8 References
Adjeroh, D., Y Zhang, and R Parthe (2006, February) On denoising and compression of DNA
microarray images Pattern Recognition 39, 2478–2493.
Bell, T C., J G Cleary, and I H Witten (1990) Text compression Prentice Hall.
Faramarzpour, N and S Shirani (2004, March) Lossless and lossy compression of DNA
mi-croarray images In Proc of the Data Compression Conf., DCC-2004, Snowbird, Utah,
pp 538
Faramarzpour, N., S Shirani, and J Bondy (2003, November) Lossless DNA microarray
im-age compression In Proc of the 37th Asilomar Conf on Signals, Systems, and Computers,
2003, Volume 2, pp 1501–1504.
Hampel, H., R B Arps, C Chamzas, D Dellert, D L Duttweiler, T Endoh, W Equitz, F Ono,
R Pasco, I Sebestyen, C J Starkey, S J Urban, Y Yamazaki, and T Yoshida (1992,April) Technical features of the JBIG standard for progressive bi-level image com-
pression Signal Processing: Image Communication 4(2), 103–111.
Hegde, P., R Qi, K Abernathy, C Gay, S Dharap, R Gaspard, J Earle-Hughes, E Snesrud,
N Lee, and J Q (2000, September) A concise guide to cDNA microarray analysis
Biotechniques 29(3), 548–562.
Hua, J., Z Liu, Z Xiong, Q Wu, and K Castleman (2003, September) Microarray BASICA:
background adjustment, segmentation, image compression and analysis of
microar-ray images In Proc of the IEEE Int Conf on Image Processing, ICIP-2003, Volume 1,
Barcelona, Spain, pp 585–588
Hua, J., Z Xiong, Q Wu, and K Castleman (2002, October) Fast segmentation and
lossy-to-lossless compression of DNA microarray images In Proc of the Workshop on Genomic
Signal Processing and Statistics, GENSIPS, Raleigh, NC.
ISO/IEC (1993, March) Information technology - Coded representation of picture and audio
infor-mation - progressive bi-level image compression International Standard ISO/IEC 11544
and ITU-T Recommendation T.82
ISO/IEC (1999) Information technology - Lossless and near-lossless compression of continuous-tone
still images ISO/IEC 14495–1 and ITU Recommendation T.87.
ISO/IEC (2000a) Information technology - JPEG 2000 image coding system ISO/IEC International
Standard 15444–1, ITU-T Recommendation T.800
ISO/IEC (2000b) JBIG2 bi-level image compression standard International Standard ISO/IEC
14492 and ITU-T Recommendation T.88
Jörnsten, R., W Wang, B Yu, and K Ramchandran (2003) Microarray image compression:
SLOCO and the effect of information loss Signal Processing 83, 859–869.
Jörnsten, R and B Yu (2000, March) Comprestimation: microarray images in abundance In
Proc of the Conf on Information Sciences, Princeton, NJ.
Jörnsten, R and B Yu (2002, July) Compression of cDNA microarray images In Proc of the
IEEE Int Symposium on Biomedical Imaging, ISBI-2002, Washington, DC, pp 38–41.
Jörnsten, R., B Yu, W Wang, and K Ramchandran (2002a, September) Compression of cDNA
and inkjet microarray images In Proc of the IEEE Int Conf on Image Processing,
ICIP-2002, Volume 3, Rochester, NY, pp 961–964.
Trang 6Jörnsten, R., B Yu, W Wang, and K Ramchandran (2002b, October) Microarray image
com-pression and the effect of comcom-pression loss In Proc of the Workshop on Genomic Signal
Processing and Statistics, GENSIPS, Raleigh, NC.
Kothapalli, R., S J Yoder, S Mane, and T P L Jr (2002) Microarray results: how accurate are
they? BMC Bioinformatics 3.
Leung, Y F and D Cavalieri (2003, November) Fundamentals of cDNA microarray data
analysis Trends on Genetics 19(11), 649–659.
Lonardi, S and Y Luo (2004, August) Gridding and compression of microarray images In
Proc of the IEEE Computational Systems Bioinformatics Conference, CSB-2004, Stanford,
CA
Moore, S K (2001, March) Making chips to probe genes IEEE Spectrum 38(3), 54–60 Netravali, A N and B G Haskell (1995) Digital pictures: representation, compression and stan-
dards (2nd ed.) New York: Plenum.
Neves, A J R and A J Pinho (2006, October) Lossless compression of microarray images In
Proc of the IEEE Int Conf on Image Processing, ICIP-2006, Atlanta, GA, pp 2505–2508.
Neves, A J R and A J Pinho (2009, February) Lossless compression of microarray images
using image-dependent finite-context models IEEE Trans on Medical Imaging 28(2),
194–201
Pinho, A J and A J R Neves (2006, October) Lossy-to-lossless compression of images based
on binary tree decomposition In Proc of the IEEE Int Conf on Image Processing,
ICIP-2006, Atlanta, GA, pp 2257–2260.
Rissanen, J (1983, September) A universal data compression system IEEE Trans on
Informa-tion Theory 29(5), 656–664.
Rissanen, J and G G Langdon, Jr (1981, January) Universal modeling and coding IEEE
Trans on Information Theory 27(1), 12–23.
Said, A and W A Pearlman (1996, June) A new, fast, and efficient image codec based on
set partitioning in hierarchical trees IEEE Trans on Circuits and Systems for Video
Technology 6(3), 243–250.
Salomon, D (2000) Data compression - The complete reference (2nd ed.) Springer.
Sasik, R., C H Woelk, and J Corbeil (2004, August) Microarray truths and consequences
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Sayood, K (2000) Introduction to data compression (2nd ed.) Morgan Kaufmann.
Skodras, A., C Christopoulos, and T Ebrahimi (2001, September) The JPEG 2000 still image
compression standard IEEE Signal Processing Magazine 18(5), 36–58.
Taubman, D S and M W Marcellin (2002) JPEG 2000: image compression fundamentals,
stan-dards and practice Kluwer Academic Publishers.
Weinberger, M J., G Seroussi, and G Sapiro (2000, August) The LOCO-I lossless image
compression algorithm: principles and standardization into JPEG-LS IEEE Trans on
Image Processing 9(8), 1309–1324.
Yoo, Y., Y G Kwon, and A Ortega (1998, November) Embedded image-domain adaptive
compression of simple images In Proc of the 32nd Asilomar Conf on Signals, Systems,
and Computers, Volume 2, Pacific Grove, CA, pp 1256–1260.
Zhang, Y., R Parthe, and D Adjeroh (2005, August) Lossless compression of DNA microarray
images In Proc of the IEEE Computational Systems Bioinformatics Conference, CSB-2005,
Stanford, CA
Trang 7Roundoff Noise Minimization for State-Estimate Feedback Digital Controllers Using Joint Optimization of Error Feedback and Realization
Takao Hinamoto, Keijiro Kawai, Masayoshi Nakamoto andWu-Sheng Lu
0
Roundoff Noise Minimization for State-Estimate
Feedback Digital Controllers Using Joint Optimization of Error Feedback and Realization
Takao Hinamoto, Keijiro Kawai, Masayoshi Nakamoto and Wu-Sheng Lu
Name-of-the-University-Company
Country
1 INTRODUCTION
Due to the finite precision nature of computer arithmetic, the output roundoff noise of a
fixed-point IIR digital filter usually arises This noise is critically dependent on the internal structure
of an IIR digital filter [1],[2] Error feedback (EF) is known as an effective technique for
reduc-ing the output roundoff noise in an IIR digital filter [3]-[5] Williamson [6] has reduced the
output roundoff noise more effectively by choosing the filter structure and applying EF to the
filter Lu and Hinamoto [7] have developed a jointly optimized technique of EF and
realiza-tion to minimize the effects of roundoff noise at the filter output subject to l2-norm
dynamic-range scaling constraints Li and Gevers [8] have analyzed the output roundoff noise of the
closed-loop system with a state-estimate feedback controller, and presented an algorithm for
realizing the state-estimate feedback controller with minimum output roundoff noise under
l2-norm dynamic-range scaling constraints Hinamoto and Yamamoto [9] have proposed a
method for applying EF to a given closed-loop system with a state-estimate feedback
con-troller
This paper investigates the problem of jointly optimizing EF and realization for the
closed-loop system with a state-estimate feedback controller so as to minimize the output roundoff
noise subject to l2-norm dynamic-range scaling constraints To this end, the problem at hand is
converted into an unconstrained optimization problem by using linear-algebraic techniques,
and then an iterative technique which relies on a quasi-Newton algorithm [10] is developed
With a closed-form formula for gradient evaluation and an efficient quasi-Newton solver, the
unconstrained optimization problem can be solved efficiently Our computer simulation
re-sults demonstrate the validity and effectiveness of the proposed technique
Throughout the paper, I n stands for the identity matrix of dimension n × n, the transpose
(conjugate transpose) of a matrix A is indicated by A T (A ∗ ), and the trace and ith diagonal
element of a square matrix A are denoted by tr[A]and(A)ii, respectively
2 ROUNDOFF NOISE ANALYSIS
Consider a stable, controllable and observable linear discrete-time system described by
x(k+1) =Aox(k) +bo u(k)
23
Trang 8where x(k)is an n × 1 state-variable vector, u(k)is a scalar input, y(k)is a scalar output, and
A o , b o and c o are n × n, n ×1 and 1× n real constant matrices, respectively The transfer
function of the linear system in (1) is given by
where ˜x(k)is an n × 1 state-variable vector in the full-order state observer, g o is an n ×1 gain
vector chosen so that all the eigenvalues of F o = A o − g o c oare inside the unit circle in the
complex plane, k ois a 1× n state-feedback gain vector chosen so that each of the eigenvalues
of A o − b o k o is at a desirable location within the unit circle, r(k)is a scalar reference signal,
and R o=F o − b o k o The closed-loop control system consisting of the linear system in (1) and
the state-estimate feedback controller in (3) is illustrated in Fig 1
Fig 1 The closed-loop control system with a state-estimate feedback controller
When performing quantization before matrix-vector multiplication, we can express the
finite-word-length (FWL) implementation of (3) with error feedback as
ˆx(k+1) =R Q[ˆx(k)] +b r(k) +g (k) +De(k)
u(k) =− k Q[ˆx(k)] +r(k) (4)where
e(k) = ˆx(k)− Q[ˆx(k)]
is an n × 1 roundoff error vector and D is an n × n error feedback matrix All coefficient
matrices R, b, g and k are assumed to have an exact fractional B cbit representation The FWL
state-variable vector ˆx(k)and signal u(k)all have a B bit fractional representation, while the reference input r(k)is a(B − B c)bit fraction The vector quantizer Q[·] in (4) rounds the B
bit fraction ˆx(k)to(B − B c)bits after completing the multiplications and additions, where the
sign bit is not counted It is assumed that the roundoff error vector e(k)can be modeled as a
zero-mean noise process with covariance σ2I nwhere
σ2= 1
122−2(B−B c).
It is noted that if the ith element of the roundoff error vector e(k)is indicated by e i(k)for i=
1, 2,· · · , n then the variable e i(k)can be approximated by a white noise sequence uniformlydistributed with the following probability density function:
Fig 2 A state-estimate feedback controller with error feedback
The closed-loop system consisting of the linear system in (1) and the state-estimate feedbackcontroller with error feedback in (4) is shown in Fig 2, and is described by
Trang 9where x(k)is an n × 1 state-variable vector, u(k)is a scalar input, y(k)is a scalar output, and
A o , b o and c o are n × n, n ×1 and 1× n real constant matrices, respectively The transfer
function of the linear system in (1) is given by
where ˜x(k)is an n × 1 state-variable vector in the full-order state observer, g o is an n ×1 gain
vector chosen so that all the eigenvalues of F o = A o − g o c oare inside the unit circle in the
complex plane, k ois a 1× n state-feedback gain vector chosen so that each of the eigenvalues
of A o − b o k o is at a desirable location within the unit circle, r(k)is a scalar reference signal,
and R o=F o − b o k o The closed-loop control system consisting of the linear system in (1) and
the state-estimate feedback controller in (3) is illustrated in Fig 1
Fig 1 The closed-loop control system with a state-estimate feedback controller
When performing quantization before matrix-vector multiplication, we can express the
finite-word-length (FWL) implementation of (3) with error feedback as
ˆx(k+1) =R Q[ˆx(k)] +b r(k) +g (k) +De(k)
u(k) =− k Q[ˆx(k)] +r(k) (4)where
e(k) = ˆx(k)− Q[ˆx(k)]
is an n × 1 roundoff error vector and D is an n × n error feedback matrix All coefficient
matrices R, b, g and k are assumed to have an exact fractional B cbit representation The FWL
state-variable vector ˆx(k)and signal u(k)all have a B bit fractional representation, while the reference input r(k)is a(B − B c)bit fraction The vector quantizer Q[·] in (4) rounds the B
bit fraction ˆx(k)to(B − B c)bits after completing the multiplications and additions, where the
sign bit is not counted It is assumed that the roundoff error vector e(k)can be modeled as a
zero-mean noise process with covariance σ2I nwhere
σ2= 1
122−2(B−B c).
It is noted that if the ith element of the roundoff error vector e(k)is indicated by e i(k)for i=
1, 2,· · · , n then the variable e i(k)can be approximated by a white noise sequence uniformlydistributed with the following probability density function:
Fig 2 A state-estimate feedback controller with error feedback
The closed-loop system consisting of the linear system in (1) and the state-estimate feedbackcontroller with error feedback in (4) is shown in Fig 2, and is described by
Trang 10From (5), the transfer function from the roundoff error vector e(k)to the output y(k)is given
out stands for the noise variance at the output For tractability, we evaluate J(D)in (7)
by replacing R, b, g and k by R o , b o , g o and k o, respectively Defining
It is noted that the stability of the closed-loop control system is determined by the eigenvalues
of matrix A in (5), or equivalently, those of matrix Φ in (10) This means that neither of the
roundoff error vector e(k)and the error-feedback matrix D affects the stability.
Substituting (10) into matrix W Din (8) gives
W D= (b0k0)T W1b0k0+ (b0k0)T W2(F0− D)+(F0− D)T W3b0k0
Since W is positive semidefinite, it can be shown that there exists an n × n matrix P such that
W3=W4P In addition, (11) can be written by virtue of W2=W T3 as
W D= (F0+Pb0k0− D)T W4(F0+Pb0k0− D)+(b0k0)T(W1− P T W4P)b0k0 (12)
Alternatively, applying z-transform to the first equation in (5) under the assumption that
where X(z), ˆX(z)and R(z) represent the z-transforms of x(k), ˆx(k)and r(k), respectively
Replacing R, b, k and g by R o , b o , k o and g o, respectively, and then using
3 ROUNDOFF NOISE MINIMIZATION
Consider the system in (4) with D=0 and denote it by(R, b, g, k)n By applying a coordinate
transformation ˜x (k) =T −1 ˆx(k)to the above system(R, b, g, k)n, we obtain a new realizationcharacterized by(˜R, ˜b, ˜g, ˜k)nwhere
Trang 11From (5), the transfer function from the roundoff error vector e(k)to the output y(k)is given
out stands for the noise variance at the output For tractability, we evaluate J(D)in (7)
by replacing R, b, g and k by R o , b o , g o and k o, respectively Defining
It is noted that the stability of the closed-loop control system is determined by the eigenvalues
of matrix A in (5), or equivalently, those of matrix Φ in (10) This means that neither of the
roundoff error vector e(k)and the error-feedback matrix D affects the stability.
Substituting (10) into matrix W Din (8) gives
W D= (b0k0)T W1b0k0+ (b0k0)T W2(F0− D)+(F0− D)T W3b0k0
Since W is positive semidefinite, it can be shown that there exists an n × n matrix P such that
W3=W4P In addition, (11) can be written by virtue of W2=W T3 as
W D= (F0+Pb0k0− D)T W4(F0+Pb0k0− D)+(b0k0)T(W1− P T W4P)b0k0 (12)
Alternatively, applying z-transform to the first equation in (5) under the assumption that
where X(z), ˆX(z) and R(z) represent the z-transforms of x(k), ˆx(k)and r(k), respectively
Replacing R, b, k and g by R o , b o , k o and g o, respectively, and then using
3 ROUNDOFF NOISE MINIMIZATION
Consider the system in (4) with D=0 and denote it by(R, b, g, k)n By applying a coordinate
transformation ˜x (k) =T −1 ˆx(k)to the above system(R, b, g, k)n, we obtain a new realizationcharacterized by(˜R, ˜b, ˜g, ˜k)nwhere
Trang 12and the corresponding output noise gain is given by
J(D, T) =tr[W˜ D] (19)where ˜W Dcan be obtained referring to (11) as
As a result, the output roundoff noise minimization problem amounts to obtaining matrices
D and T which jointly minimize J(D, T)in (19) subject to the l2-norm dynamic-range scaling
From the foregoing arguments, the problem of obtaining matrices D and T that minimize (19)
subject to the scaling constraints in (21) is now converted into an unconstrained optimization
problem of obtaining D and ˆT that jointly minimize J(D, ˆT)in (25)
Let x be the column vector that collects the variables in matrix D and matrix[t1, t2,· · · , t n]
Then J(D, ˆT)is a function of x, denoted by J(x) The proposed algorithm starts with an initial
point x0obtained from an initial assignment D= ˆT=I n In the kth iteration, a quasi-Newton
algorithm updates the most recent point x k to point x k+1as [10]
tion of the inverse Hessian matrix of J(x k) This iteration process continues until
| J(x k+1)− J(x k)| < ε (27)
is satisfied where ε >0 is a prescribed tolerance
In what follows, we derive closed-form expressions of∇ J(x)for the cases where D assumes
the form of a general, diagonal, or scalar matrix
1) Case 1: D Is a General Matrix: From (25), the optimal choice of D is given by
Trang 13and the corresponding output noise gain is given by
J(D, T) =tr[W˜ D] (19)where ˜W Dcan be obtained referring to (11) as
As a result, the output roundoff noise minimization problem amounts to obtaining matrices
D and T which jointly minimize J(D, T)in (19) subject to the l2-norm dynamic-range scaling
From the foregoing arguments, the problem of obtaining matrices D and T that minimize (19)
subject to the scaling constraints in (21) is now converted into an unconstrained optimization
problem of obtaining D and ˆT that jointly minimize J(D, ˆT)in (25)
Let x be the column vector that collects the variables in matrix D and matrix[t1, t2,· · · , t n]
Then J(D, ˆT)is a function of x, denoted by J(x) The proposed algorithm starts with an initial
point x0obtained from an initial assignment D= ˆT=I n In the kth iteration, a quasi-Newton
algorithm updates the most recent point x k to point x k+1as [10]
tion of the inverse Hessian matrix of J(x k) This iteration process continues until
| J(x k+1)− J(x k)| < ε (27)
is satisfied where ε >0 is a prescribed tolerance
In what follows, we derive closed-form expressions of∇ J(x)for the cases where D assumes
the form of a general, diagonal, or scalar matrix
1) Case 1: D Is a General Matrix: From (25), the optimal choice of D is given by
Trang 14In this case, (25) becomes
J(D, ˆT) =tr ˆTM d ˆT T
(32)where
3) Case 3: D Is a Scalar Matrix: It is assumed here that D=α I n with a scalar α The gradient of
J(x)can then be calculated as
c o=0.093253 0.128620 0.314713 Suppose that the poles of the observer and regulator in the system are required to be located
at z=0.1532, 0.2861, 0.1137, and z=0.5067, 0.6023, 0.4331, respectively This can be achieved
by choosing
k o= 0.471552 −0.367158 3.062267
g o=
−0.006436 3.683651 5.083920 T
Performing the l2-norm dynamic-range scaling to the state-estimate feedback controller, we
obtain J(0) =686.4121 in (7) where D=0 Next, the controller is transformed into the optimal
realization that minimizes J(0) in (7) under the l2-norm dynamic-range scaling constraints
This leads to J min(0) =28.6187 Finally, EF and state-variable coordinate transformation are
applied to the above optimal realization so as to jointly minimize the output roundoff noise
The profiles of J(x)during the first 20 iteration for the cases of D being a general, diagonal,
and scalar matrix are depicted in Fig 3
1) Case 1: D Is a General Matrix: The quasi-Newton algorithm was applied to minimize (25) It
took the algorithm 20 iterations to converge to the solution
and the minimized noise gain was found to be J(D, ˆT) = 4.8823 Next, the above optimal
EF matrix D was rounded to a power-of-two representation with 3 bits after the binary point,
and a noise gain J(D 3bit , ˆT) = 23.4873 Furthermore, when the optimal EF matrix D was
rounded to the integer representation
the noise gain was found to be J(D int , ˆT) =293.0187
2) Case 2: D Is a Diagonal Matrix: Again, the quasi-Newton algorithm was applied to minimize
J(D, ˆT)in (25) for a diagonal EF matrix D It took the algorithm 20 iterations to converge to
and the minimized noise gain was found to be J(D, ˆT) = 12.7097 Next, the above
opti-mal diagonal EF matrix D was rounded to a power-of-two representation with 3 bits ter the binary point to yield D 3bit = diag{0.000,−0.625,−1.000}, which leads to a noise
af-gain J(D 3bit , ˆT) = 12.7722 Furthermore, when the optimized diagonal EF matrix D was rounded to the integer representation D int=diag{0,−1, −1 , the noise gain was found to be
J(D int , ˆT) =13.7535
3) Case 3: D Is a Scalar Matrix: In this case, the quasi-Newton algorithm was applied to
mini-mize (25) for D=α I3with a scalar α The algorithm converges after 20 iterations to converge
and the minimized noise gain was found to be J(D, ˆT) =16.2006 Next, the EF matrix D=α I3
was rounded to a power-of-two representation with 3 bits after the binary point as well as
Trang 15In this case, (25) becomes
J(D, ˆT) =tr ˆTM d ˆT T
(32)where
3) Case 3: D Is a Scalar Matrix: It is assumed here that D=α I n with a scalar α The gradient of
J(x)can then be calculated as
c o=0.093253 0.128620 0.314713
Suppose that the poles of the observer and regulator in the system are required to be located
at z=0.1532, 0.2861, 0.1137, and z=0.5067, 0.6023, 0.4331, respectively This can be achieved
by choosing
k o= 0.471552 −0.367158 3.062267
g o=
−0.006436 3.683651 5.083920 T
Performing the l2-norm dynamic-range scaling to the state-estimate feedback controller, we
obtain J(0) =686.4121 in (7) where D=0 Next, the controller is transformed into the optimal
realization that minimizes J(0)in (7) under the l2-norm dynamic-range scaling constraints
This leads to J min(0) = 28.6187 Finally, EF and state-variable coordinate transformation are
applied to the above optimal realization so as to jointly minimize the output roundoff noise
The profiles of J(x)during the first 20 iteration for the cases of D being a general, diagonal,
and scalar matrix are depicted in Fig 3
1) Case 1: D Is a General Matrix: The quasi-Newton algorithm was applied to minimize (25) It
took the algorithm 20 iterations to converge to the solution
and the minimized noise gain was found to be J(D, ˆT) = 4.8823 Next, the above optimal
EF matrix D was rounded to a power-of-two representation with 3 bits after the binary point,
and a noise gain J(D 3bit , ˆT) = 23.4873 Furthermore, when the optimal EF matrix D was
rounded to the integer representation
the noise gain was found to be J(D int , ˆT) =293.0187
2) Case 2: D Is a Diagonal Matrix: Again, the quasi-Newton algorithm was applied to minimize
J(D, ˆT)in (25) for a diagonal EF matrix D It took the algorithm 20 iterations to converge to
and the minimized noise gain was found to be J(D, ˆT) = 12.7097 Next, the above
opti-mal diagonal EF matrix D was rounded to a power-of-two representation with 3 bits ter the binary point to yield D 3bit = diag{0.000,−0.625,−1.000}, which leads to a noise
af-gain J(D 3bit , ˆT) = 12.7722 Furthermore, when the optimized diagonal EF matrix D was rounded to the integer representation D int=diag{0,−1, −1 , the noise gain was found to be
J(D int , ˆT) =13.7535
3) Case 3: D Is a Scalar Matrix: In this case, the quasi-Newton algorithm was applied to
mini-mize (25) for D=α I3with a scalar α The algorithm converges after 20 iterations to converge
and the minimized noise gain was found to be J(D, ˆT) =16.2006 Next, the EF matrix D=α I3
was rounded to a power-of-two representation with 3 bits after the binary point as well as