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IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS
L1 Control of Positive Semi-Markov Jump
Systems With State Delay
Guangdeng Zong , Senior Member, IEEE, Wenhai Qi , Member, IEEE,
and Hamid Reza Karimi , Senior Member, IEEE
Abstract—In this article, the issue of L 1 control design is
addressed for a class of delayed stochastic jump systems subject
to semi-Markov jump parameters. The stochastic jump systems
in the presence of positivity constraints are described by positive
semi-Markov jump systems (S-MJSs). By constructing new linear
Lyapunov functional dependent double integral, some sojourn-
time-dependent sufficient conditions are established to realize
the corresponding stochastic stability with a prescribed L 1 -gain
performance index. Then, a switching controller via gain matrix
decomposition is designed to achieve positivity and stochastic sta-
bilization with a prescribed L 1 -gain performance, which can be
solved with the help of linear programming approach. Finally,
the virus mutation treatment model verifies the effectiveness of
the theoretical results.
Index Terms—Linear programming, Lyapunov functional,
stochastic stabilization, switching controller design.
I. I NTRODUCTION
N MANY social and engineering applications, there always
I exist a special kind of physical variables, such as the num-
ber of biological populations, the material concentration in
chemical reactions, the biopolymer concentration in gene reg-
ulation, the quantity of packets in network transmission, the
cell number, the dosage of medicament, and the PM2.5 con-
centration in the atmosphere. These signal trajectories are
constrained to be non-negative for any positive initial condi-
tions, which can be characterized as positive systems [1], [2].
Compared with general systems and positive systems are char-
acterized by the positivity of their state signals, output signals,
Manuscript received August 17, 2019; revised December 16, 2019; accepted
March 7, 2020. This work was supported in part by the National Natural
Science Foundation of China under Grant 61703231, Grant 61773235, Grant
61773236, and Grant 61873331, in part by the Natural Science Foundation
of Shandong under Grant ZR2017QF001, Grant ZR2019YQ29, and Grant
ZR2017MF063, in part by the Postdoctoral Science Foundation of China
under Grant 2018T110670, in part by the Taishan Scholar Project of Shandong
Province under Grant TSQN20161033, in part by the 111 Project under Grant
B17017, in part by the Interdisciplinary Scientific Research Projects of Qufu
Normal University under Grant xkjjc201905, and also in part by the Excellent
Experiment Project of Qufu Normal University under Grant jp201728. This
article was recommended by Associate Editor H.-X. Li. (Corresponding
author: Wenhai Qi.)
Guangdeng Zong and Wenhai Qi are with the School of Engineering, Qufu
Normal University, Rizhao 276826, China (e-mail: lovelyletian@gmail.com;
qiwhtanedu@163.com).
Hamid Reza Karimi is with the Department of Mechanical
Engineering, Politecnico di Milano, 20133 Milan, Italy (e-mail:
hamidreza.karimi@polimi.it).
Color versions of one or more of the figures in this article are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TSMC.2020.2980034
2168-2216 
c 2020 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
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1
and input signals. Since their signal trajectories are confined
to one non-negative region in multidimensional space, analysis
and synthesis of positive systems become more challeng-
ing. The positivity requirement means that many previous
approaches for general systems are no longer applied. Up
to now, many remarkable results have been obtained for the
dynamical analysis of positive systems (see [3]–[10]).
At the same time, it is well known that time delay is a com-
mon practical problem in the objective world and engineering
technology. Performance analysis and design of time-delay
systems have been applied in many fields, such as ocean
information detection, transportation, electric power, environ-
mental protection, chemical process, ecological balance, and
computer image processing. It is reported that time delay has
a great influence on dynamical performances and may cause
instability, oscillations, and other poor performance [11]–[19].
Thereupon, it is of great theoretical and practical significance
to consider time-delay factors when dealing with practical
systems [20]–[22].
On the other hand, a great number of dynamic systems in
practical engineering and economic fields, especially mete-
orological forecast systems, network control systems, power
systems, chemical systems, and economic systems, always
suffer from sudden changes in the external environment,
stochastic changes in the mode of interconnection between
subsystems, random changes in the range of nonlinear objects,
damage of system components, and human intervention dur-
ing their operation. This kind of system drives the evolution
of system state through two dynamic mechanisms: 1) time and
2) event, in which the state space is composed of Euclidean
vector space and finite set of discrete events [23]–[30]. In
the field of control theory, stochastic process is often used
to describe the systems subject to structural or parametrical
variations [31], [32], which depends on the time between
two consecutive transitions/jumps of the system, i.e., the
sojourn time (ST). ST is a random variable and obeys a
certain probability distribution. For Markov jump systems
(MJSs) [33]–[40], ST is subject to the exponential distribu-
tion and results in constant transition rate (TR). However,
since the ST in semi-MJSs (S-MJSs) obeys nonmemoryless
probability distribution, the TR becomes time-varying. As a
mathematical model to describe practical problems, S-MJSs
have a wide physical background and high practical applica-
tion value. These research results are closely related to the
practical problems in control engineering and have attracted
people’s wide attention. Some of the research results have
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2 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS
been successfully applied to modern communication technol-
ogy, network control systems, fault-tolerant control, and other
fields (see [41]–[51]).
It is noted that some existing research results for pos-
itive systems are presented in linear matrix inequality
form by constructing quadratic Lyapunov function [3], [4].
Recently, a new linear Lyapunov function approach has
been proposed [5], [7]–[10]. Compared with the quadratic
Lyapunov function method, the linear Lyapunov function
method takes full use of the non-negative characteristics of
positive systems and brings some new insights into the sta-
bility analysis and control synthesis. The proposed criterion
is convenient to be derived in terms of linear programming.
In addition, H ∞ performance [3] is proposed for positive
systems under quadratic Lyapunov function framework. Under
the linear Lyapunov function framework, the L 1 performance
is introduced for positive systems [5], [10], [28], [29], [35],
[36], [39]. It is well known that H ∞ performance induced by
L 2 signals are not the right choices to characterize the fea-
tures of positive systems. Note that 1-norm is an appropriate
choice to provide more helpful descriptions in studying pos-
itive systems since it stands for the sum of the values of the
components.
Although some excellent results for positive stochastic
jump systems have been reported, there still exists further
room compared to the existing results. One common con-
straint condition in [33]–[40] comes from the requirement
that the ST follows an exponential distribution, whereas
many practical models do not satisfy this rigorous assump-
tion. Specifically, the positive condition was not considered
in [31], [32], [41]–[47], [49], and [50] while it really exists
in many practical systems. In addition, the existing con-
troller design methods for positive systems, such as iterative
optimization method, parameter selection method, and dual
system design method, have shown some limitations. The
iterative optimization method increases the computational
amount of controller gain solution [5]. For the parame-
ter selection method [34], [39], [40], there is one restric-
tion on the matrix rank R {K } = 1. In the dual system
design method [37], [38], [51], only nominal systems are
studied. Moreover, the input matrices are assumed to be
positive [4], [5], [34], [39], [40], while they may have nega-
tive elements in practical positive systems. In fact, the L 1
control problem for positive S-MJSs is a challenge topic,
since many complicated factors, such as semi-Markov pro-
cess (SMP), external disturbance, and time delay, need to
be considered in the design of L 1 controller. Therefore,
a critical problem for L 1 control design for positive S-
MJSs is yet to be solved, that is, whether there exists a
new L 1 control law to dispel the external disturbances
and time delay simultaneously? Unfortunately, there are no
relevant theoretical results available for reference, which
motivates our present study. Especially, the following three
key questions should be addressed during the L 1 control
design.
Q1: Different from general S-MJSs [31], [32], [41]–[47],
[49], [50], how to derive the weak infinitesimal operator for
S-MJSs with positive constraints?
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Q2: Compared with some existing control design meth-
ods [5], [34], [37]–[40], [51], how to design a new controller
to realize the stochastic stabilization performance?
Q3: Positive S-MJSs find wide applications, in which one
typical application example is the virus mutation treatment
model (VNTM). How to model the VNTM and illustrate the
effectiveness of the obtained results?
In this article, we will address the problem of L 1 con-
trol design for a class of positive delayed S-MJSs. The main
contributions can be summarized as follows.
1) By applying the linear Lyapunov functional, ST-
dependent sufficient conditions are given to attain
stochastic stability for positive delayed S-MJSs.
2) ST-dependent sufficient conditions for stochastic stabil-
ity criteria with a prescribed L 1 performance index
are presented. Considering the time-varying character-
istics of TR matrix, ST-dependent sufficient conditions
are transformed to feasible conditions by the upper and
lower bounds of TR.
3) Furthermore, a new L 1 control law via gain matrix
decomposition methodology is constructed to achieve
positivity and stochastic stabilization with a prescribed
L 1 performance index.
4) Due to sudden changes of the working environment in
the VMTM, representing the VMTM as positive S-MJSs
verifies the validity of the L 1 control algorithm.
Notations:
1) A ≥≥ (>> 0): All entries of matrix A are non-negative
(positive).

2) x1 = nk=1 |xk |: 1-norm of vector x.
3) 1n : All-ones vector in R n .
4) 1rn : rth element of the vector 1n is one, namely, 1rn =
 T
01 02 · · · 1r · · · 0n .
5) E {·}: Mathematical expectation.
6) V α (d): Cumulative distribution function of ST d in α.
7) qαβ : Probability intensity from α to β.
8) ℘: Weak infinitesimal operator.
9) iff: If and only if.
II. P RELIMINARIES
Consider the following positive delayed S-MJSs:
ż(t) = A (δt )z(t) + A d (δt )z(t − τ (t)) + B (δt )u(t)
+ G (δt )w(t)
y(t) = C (δt )z(t) + D (δt )w(t)
z(t0 + θ ) = φ(θ ) ∀θ ∈ [−τ, 0] (1)
where z(t) ∈ R n , w(t) ∈ R l , u(t) ∈ R m , and y(t) ∈ R s
are, respectively, the state, noise, input, and output; φ(θ ) is
a vector-valued initial continuous function defined on interval
[ − τ, 0]. τ (t) is given as 0 < τ (t) ≤ τ and τ̇ (t) ≤ h1 < 1.
{δt , t ≥ 0} stands for the SMP in S = {1, 2, . . . , N } with
probability transitions [42] as

μαβ (d)d + o(d), α = β
Pr{δt+d = β|δt = α} = (2)
1 + μαα (d)d + o(d), α = β
where d ≥ 0 is the time elapsed when the system stays at mode
i from the last jump, i.e., the ST, μαβ (d) ≥ 0 means the TR
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ZONG et al.: L 1 CONTROL OF POSITIVE S-MJSs WITH STATE DELAY 3


from α to β for α = β, and N β=1,β =α μαβ (d) = −μαα (d). such that
o(d) is the little-o notation defined by limd→0 (o(d)/d) = 0.
When β = α, we suppose the TR μαβ (d) is satisfied with (A α + B α K α )T χα + ρ1α + ρ2α + τρ1 + τρ2
N
μαβ ≤ μαβ (d) ≤ μ̄αβ with positive real constants μαβ and
μ̄αβ . When β = α, it is assumed that μαα (d) as −μαα ≤ + μαβ (d)χβ << 0 (4)
β=1
−μαα (d) ≤ −μ̄αα with negative real constants μαα and μ̄αα .
Remark 1: For MJSs with a stochastic Markov process, A Tdα χα − (1 − h1 )ρ1α << 0 (5)
the ST between two consecutive transitions/jumps is a ran- N
 N

dom variable and obeys exponential distribution, which means μαβ (d)ρ1β ≤≤ ρ1 , μαβ (d)ρ2β ≤≤ ρ2 (6)
that the TR is constant. However, for S-MJSs with stochastic β=1 β=1
SMP, the ST subject to nonmemoryless probability distribution
then system (3) with zero disturbance input w(t) achieves
results in the time-variant TR matrix and expands the practical
stochastic stability.
application scope. Therefore, S-MJSs cover MJSs as a special
Proof: Consider Lyapunov functional
case.
For δt = α ∈ S , A (δt ), A d (δt ), B (δt ), G (δt ), C (δt ), and W (z(t), t, δt ) = W 1 (z(t), t, δt ) + W 2 (z(t), t, δt )
D (δt ) are denoted by A α , A dα , B α , G α , C α , and D α . + W 3 (z(t), t, δt ) + W 4 (z(t), t) (7)
Definition 1 [36]: System (1) is said to be positive if for
given non-negative initial condition and disturbance input, then where
z(t) ≥≥ 0 and y(t) ≥≥ 0 hold, for t ≥ t0 .
Remark 2: Definition 1 for stochastic stability is usual. Due W 1 (z(t), t, δt ) = zT (t)χ (δt )
 t
to the characteristics of positive systems, 1-norm is introduced W 2 (z(t), t, δt ) = zT (s)ρ1 (δt )ds
to describe stochastic stability since it stands for the sum of t−τ (t)
 t
the values of the components. However, for general systems
without positivity constraints, the Euclidean norm (quadratic W 3 (z(t), t, δt ) = zT (s)ρ2 (δt )ds
t−τ
norm) is usually adopted to describe stochastic stability [26].  0 t
Definition 2 [33]: System (1) with zero disturbance W 4 (z(t), t) = zT (s)(ρ1 + ρ2 )dsdθ (8)
input w(t) is said to be stochastically stable if for −τ t+θ

 ∞non-negative initial condition φ(θ ) and δ0 ∈ S ,

given where χα , ρ1α , ρ2α , ρ1 , ρ2 ∈ R n+ .
E { 0 z(t)1 dt|(φ(θ ), δ0 )} < ∞ holds. Along with system (3) under zero disturbance input w(t)
Definition 3 [35]: For γ > 0, system (1) is said to be and δt = α, one has
stochastically stable with L 1 performance index, if system (1)
with zero disturbance input w(t) is said to be stochastically ℘ W 1 (z(t), t, δt )
∞ ∞
stable, and E { 0 y(t)1 dt} ≤ γ E { 0 w(t)1 dt} holds, for 1
= lim E {W 1 (z(t + ), t + , δt+ )|δt = α}
φ(θ ) = 0 and w(t) = 0. →0 

For u(t) = K α z(t) ∀α ∈ S , one has the following closed- − W 1 (z(t), t, δt )
⎡
loop system (CLS): N
1 
ż(t) = (A α + B α K α )z(t) + A dα z(t − τ (t)) + G α w(t) = lim ⎣ Pr{δt+ = β|δt = α}zT (t + )χβ
→0 
β=1,β =α
y(t) = C α z(t) + D α w(t)
+ Pr{δt+ = α|δt = α}zT (t + )χα
z(t0 + θ ) = φ(θ ) ∀θ ∈ [−τ, 0]. (3) ⎤
Remark 3: Our objective is to design an improved L 1 − zT (t)χα ⎦
control law in standard linear programming such that system
(3) could realize positivity and stochastic stabilization with ⎡
N
L 1 performance index. Here, we only consider positivity 1⎣  Pr{δt+ = β, δt = α} T
= lim z (t + )χβ
of the CLS, namely, A α + B α K α are Metzler matri- →0  Pr{δt = α}
β=1,β =α
ces, A dα ≥≥ 0, G α ≥≥ 0, C α ≥≥ 0, D α ≥≥ 0,
Pr{δt+ = α, δt = α} T
which means that the input matrices B α can have negative + z (t + )χα
Pr{δt = α}
elements. ⎤

III. S TOCHASTIC S TABILITY − zT (t)χα ⎦

By applying the linear stochastic semi-Markov Lyapunov ⎡
N
functional and the expansion of Taylor formula, sufficient 1⎣  qαβ (V α (d + ) − V α (d)) T
conditions dependent on the ST for stochastic stability of = lim z (t + )χβ
→0  1 − V α (d)
β=1,β =α
the resulting CLS (3) will be provided in the following
theorem. 1 − V α (d + ) T
+ z (t + )χα − zT (t)χα .
Theorem 1: Assume that (3) with zero disturbance input w(t) 1 − V α (d)
is positive. If there exist χα , ρ1α , ρ2α , ρ1 , ρ2 ∈ R n+ ∀α ∈ S , (9)

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4 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS

N

It follows from the expansion of Taylor formula that:
= Pr{δt+ = β|δt = α}
z(t + ) = z(t) + ż(t) + o() β=1,β =α

 
= z(t) + (A α + B α K α )z(t) t+ t
 × zT (s)ρ1β ds + zT (s)ρ1β ds
+ A dα z(t − τ (t))  + o() (10) t t−τ (t)
 
t−τ (t)
when  → 0. + zT (s)ρ1β ds
Then, we have t+−(τ (t)+τ̇ (t)+o())
+ Pr{δt+ = α|δt = α}
℘ W 1 (z(t), t, δt )  
⎡ t+ t
N
 × z (s)ρ1α ds +
T
zT (s)ρ1α ds
1 qαβ (V α (d + ) − V α (d))
= lim ⎣ t t−τ (t)
→0  1 − V α (d)  
β=1,β =α t−τ (t)
× (z(t)+((A α +B α K α )z(t)+A dα z(t−τ (t))) + T
z (s)ρ1α ds
t+−(τ (t)+τ̇ (t)+o())
1 − V α (d + )
+ o())T χβ + N

1 − V α (d) qαβ (V α (d + ) − V α (d))
=
× (z(t) + ((A α + B α K α )z(t) 1 − V α (d)
β=1,β =α
+ A dα z(t − τ (t))) + o())T χα   t
⎤
× zT (t)ρ1β + zT (s)ρ1β ds
− zT (t)χα ⎦ t−τ (t)

⎡ − (1 − τ̇ (t))z (t − τ (t))ρ1β + o()
T
N
1⎣  qαβ (V α (d + ) − V α (d))
= lim 1 − V α (d + )
→0  1 − V α (d) +
β=1,β =α
1 − V α (d)
× (z(t)+((A α +B α K α )z(t)+A dα z(t−τ (t)))   t
1 − V α (d + ) × zT (t)ρ1α + zT (s)ρ1α ds
+ o())T χβ + t−τ (t)
1 − V α (d) 
× ((A α + B α K α )z(t) + A dα z(t − τ (t))) − (1 − τ̇ (t))z (t − τ (t))ρ1α
T
+ o()
⎤
V α (d + ) − V α (d)
+ o()T χα − zT (t)χα ⎦.
1 − V α (d)
which means
(11)

According to lim→0 [(V α (d + ) − V α (d))/(1 − V α (d))] = ℘ W 2 (z(t), t, δt )

0, lim→0 [(1 − V α (d + ))/(1 − V α (d))] = 1,
1
lim→0 [(V α (d + ) − V α (d))/((1 − V α (d)))] = μα (d), = lim E {W 2 (z(t + ), t + , δt+ )|δt = α}
→0 
and μαβ (d) = qαβ μα (d), α = β, where μα (d) is the TR of 
system jumping from α, we have − W 2 (z(t), t, δt )
⎡ ⎡
N
1 ⎣  qαβ (V α (d + ) − V α (d))
℘ W 1 (z(t), t, δt ) = ⎣z (t)(A α + B α K α ) χα + z (t − τ (t))
T T T = lim
→0  1 − V α (d)
β=1,β =α
⎤   t
N
 × z T
(t)ρ + zT (s)ρ1β ds
1β
× A Tdα χα + zT (t) μαβ (d)χβ ⎦. t−τ (t)

β=1
(12) − (1 − τ̇ (t))zT (t − τ (t))ρ1β + o()

On the other hand 1 − V α (d + )

+
1 − V α (d)
E {W 2 (z(t + ), t + , δt+ )}   t
 t+ 
× z (t)ρ1α +
T
zT (s)ρ1α ds
=E zT (s)ρ1 (δt+ )ds t−τ (t)
t+−τ (t+) 
 t+  t
− (1 − τ̇ (t))zT (t − τ (t))ρ1α + o()
=E zT (s)ρ1 (δt+ )ds + zT (s)ρ1 (δt+ )ds
t t−τ (t) ⎤
   t
t−τ (t)
+ zT (s)ρ1 (δt+ )ds|δt = α − zT (s)ρ1α ds⎦
t+−τ (t+) t−τ (t)

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ZONG et al.: L 1 CONTROL OF POSITIVE S-MJSs WITH STATE DELAY 5

⎡
N
1 ⎣  qαβ (V α (d + ) − V α (d)) Applying (4)–(6) yields
= lim ⎛
→0  1 − V α (d)
β=1,β =α
  t ℘ W (z(t), t, δt ) ≤ zT (t)⎝(A α + B α K α )T χα + ρ1α + ρ2α
× zT (t)ρ1β + zT (s)ρ1β ds
t−τ (t)
 ⎞
N

− (1 − τ̇ (t))zT (t − τ (t))ρ1β + o() + τρ1 + τρ2 + μαβ (d)χβ ⎠
β=1
1 − V α (d + )
+ = zT (t)ωα ≤ −ω0 z(t)1 < 0 (17)
 1 − V α (d)
× zT (t)ρ1α − (1 − τ̇ (t))zT (t − τ (t))ρ1α
 where
+ o()  
⎤
 t ω0 = min min {−[ωα ]s }
V α (d + ) − V α (d) α=1,2,...,N s=1,2,...,n
− zT (s)ρ1α ds⎦.
1 − V α (d) t−τ (t) ωα = ( A α + B α K α )T χα + ρ1α + ρ2α + τρ1 + τρ2
(13) N

+ μαβ (d)χβ .
Similar to the proof of (12), one has β=1
℘ W 2 (z(t), t, δt ) = zT (t)ρ1α − (1 − τ̇ (t))zT (t − τ (t))ρ1α Considering Dynkin’s formula gives rise to
 t N
     
+ zT (s) μαβ (d)ρ1β ds. E W (z(t), t, δt ) − E W φ(θ ), t0 , δt0
t−τ (t) β=1  t
Moreover, we have =E ℘ W (z(s), s, δs )ds
0
 t
℘ W 3 (z(t), t, δt ) = zT (t)ρ2α − zT (t − τ )ρ2α  
≤ −ω0 E z(s)1 ds| φ(θ ), δt0
 t N
 0
+ zT (s) μαβ (d)ρ2β ds
t−τ which means
β=1
  t  t
 
℘ W 4 (z(t), t) = zT (t)(τρ1 + τρ2 ) − zT (s)(ρ1 + ρ2 )ds ω0 E z(s)1 ds|(φ(θ ), δt0 ) ≤ W φ(θ ), t0 , δt0
 t−τ
t
0
 
− E W (z(t), t, δt )
≤ zT (t)(τρ1 + τρ2 ) − zT (s)ρ1 ds  
 t t−τ (t)
≤ W φ(θ ), t0 , δt0 .
− zT (s)ρ2 ds . (14) Furthermore
t−τ (t)
 ∞   
Noting τ̇ (t) ≤ h1 < 1, we obtain   E W φ(θ ), t0 , δt0
E x(t)1 dt| φ(θ ), δt0 ≤ < ∞.
− (1 − τ̇ (t))zT (t − τ (t))ρ1α ≤ −(1 − h1 )zT (t − τ (t))ρ1α . 0 ω0
(15) Therefore, by Definition 1, system (3) with zero disturbance
input w(t) achieves stochastic stability.
Then, combining (13)–(15) gives
⎡ ⎛ Remark 4: Here, we shall answer question Q1. Compared
with general positive MJSs [33]–[40] whose ST is expo-
℘ W (z(t), t, δt ) ≤ ⎣zT (t)⎝(A α + B α K α )T χα + ρ1α + ρ2α nentially distributed, we need to reconstruct the weak
infinitesimal operator under SMP constraint [see formulas
⎞
N
 (10)–(17)]. Then, with the help of Taylor formula expansion
+ τρ1 + τρ2 + μαβ (d)χβ ⎠ (11) and lim [(V α (d + ) − V α (d))/(1 − V α (d))] = 0,
→0
 T
β=1
 lim→0 [(1 − V α (d + ))/(1 − V α (d))] = 1,
+ zT (t − τ (t)) A dα χα − (1 − h1 )ρ1α lim→0 [(V α (d + ) − V α (d))/((1 − V α (d)))] = μα (d),
⎤
μαβ (d) = qαβ μα (d), α = β, we finally obtain the weak
− zT (t − τ )ρ2α ⎦ infinitesimal operator. These are the key difficulties in
addressing stochastic stability for S-MJSs.
⎛ ⎞ Remark 5: The constant integral elements for
 t N

+ zT (s)⎝ μαβ (d)ρ1β − ρ1 ⎠ds  0  t T functional are given as W 4 (z(t), t)
Lyapunov =
t−τ (t) β=1 −τ t+θ z (s)(ρ1 + ρ2 )dsdθ . After computing the weak
⎛ ⎞
 t N

infinitesimal  t operator of W 4 (z(t),t),
t
there exist two integral
elements t−τ (t) zT (s)ρ1 ds and t−τ zT (s)ρ2 ds, which can
+ zT (s)⎝ μαβ (d)ρ2β − ρ2 ⎠ds. t 
t−τ β=1
effectively eliminate t−τ (t) zT (s) N β=1 μαβ (d)ρ1β ds and
t N
t−τ (t) z (s) β=1 μαβ (d)ρ2β ds under the condition (6).
T
(16)

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6 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS

IV. L 1 -G AIN A NALYSIS V. C ONTROLLER D ESIGN

In this section, some sufficient conditions will be provided In this section, based on L 1 -gain analysis of Theorem 2, an
to achieve stochastic stability with L 1 performance. L 1 control law with the help of gain matrix decomposition
Theorem 2: Assume that system (3) is positive. If there will be proposed to attain positivity and stochastic stability
exists χα , ρ1α , ρ2α , ρ1 , ρ2 ∈ R n+ ∀α ∈ S , such that (5) and with L 1 performance. The control input matrices can be given
(6) and under three different cases as follows.
Theorem 3: Assume that B α ≥≥ 0. If there exist χα , ρ1α ,
(A α + B α K α )T χα + ρ1α + ρ2α + τρ1 + τρ2 ρ2α , ρ1 , ρ2 ∈ R n+ , ιpα , ια ∈ R n ∀α ∈ S , such that (5), (19),
N and
+ μαβ (d)χβ + C Tα 1s << 0 (18) N

β=1 A Tα χα + ια + ρ1α + ρ2α + τρ1 + τρ2 + μαβ χβ
G Tα χα + D Tα 1s − γ 1l << 0 (19) β=1
+ C Tα 1s << 0 (22)
then system (3) achieves stochastic stability with L 1 N

performance. A Tα χα + ια + ρ1α + ρ2α + τρ1 + τρ2 + μ̄αβ χβ
Proof: From (18), one can get the inequality condition (4). β=1
Then, by Theorem 1, it follows from (4)–(6) that system (3)
with zero disturbance input w(t) achieves stochastic stability. + C Tα 1s << 0 (23)
N
 N

Next, we will consider L 1 performance for system (3). For
Lyapunov functional (7), we have μαβ ρ1β ≤≤ ρ1 , μ̄αβ ρ1β ≤≤ ρ1
β=1 β=1
℘ W (z(t), t, δt ) + y(t)1 − γ w(t)1 N
 N

⎡ ⎛
μαβ ρ2β ≤≤ ρ2 , μ̄αβ ρ2β ≤≤ ρ2 (24)
≤ ⎣zT (t)⎝(A α + B α K α )T χα + ρ1α + ρ2α + τρ1 + τρ2 β=1 β=1

m
⎞ Aα 1Tm B Tα χα + B α 1pm ιTpα + εα I ≥≥ 0 (25)
N

μαβ (d)χβ ⎠
p=1
+
ιpα ≤≤ ια (26)
β=1
  then system (3) achieves positivity and stochastic stability with
+ zT (t − τ (t)) A Tτ α χα − (1 − h1 )ρ1α
L 1 performance through the following controller:
− z (t − τ )ρ2α + w
T T
(t)G Tα χα + 1Ts C α z(t) + 1Ts D α w(t)
⎤ p=1
m 1 ιT p
m pα
u(t) = K α z(t) = z(t). (27)
− γ 1Tl w(t)⎦ 1Tm B Tα χα
⎛ Proof: Since 1Tm >> 0, B α ≥≥ 0, and χα >> 0, we
have 1Tm B Tα χα > 0. This together with (25) gives that A α +
= zT (t)⎝(A α + B α K α )T χ + ρ1α + ρ2α + τρ1 + τρ2 m 1p ιT )/(1T B T χ )] + [(ε )/(1T B T χ )]I
B α [(p=1 ≥≥
m pα m α α α m α α
⎞ 0. According to (27), we can get A α + B α K α +
N
 [(εα )/(1Tm B Tα χα )]I ≥≥ 0. Therefore, system (3) is positive.
+ μαβ (d)χβ + C Tα 1s ⎠ + zT (t − τ (t)) p p m 1p ιT ≤≤
From (26), we can get 1m ιTpα ≤≤ 1m ιTα and p=1 m pα
p
β=1 p=1
m 1 ιT = 1 ιT .
m α m α
 
× A Tdα χα − (1 − h1 )ρ1α − zT (t − τ )ρ2α Then, one has
 
+ wT (t) G Tα χα + D Tα 1s − γ 1l . (20) K Tα B Tα χα ≤≤ ια . (28)

Under zero-initial condition, (5), (6), (18), and (19) imply For a specific d, one has μαβ (d) = θ1α μαβ +θ2α μ̄αβ , where
θ1α + θ2α = 1 and θ1α > 0, θ2α > 0. Multiplying (22) by θ1α
℘ W (z(t), t, δt ) + y(t)1 − γ w(t)1 < 0. (21) and (23) by θ2α as well as (24) and (25) leads to
A Tα χα + ια + ρ1α + ρ2α + τρ1 + τρ2
Furthermore
N

 ∞  t
+ (θ1α μαβ + θ2α μ̄αβ )χβ + C Tα 1s << 0
E y(t)1 dt = lim E y(t)1 dt|(φ(θ ), t0 )
t→∞ β=1
0
 ∞ 0 N 
 
≤ γE w(t)1 dt θ1α μαβ + θ2α μ̄αβ ρ1β ≤≤ ρ1
0
β=1
which means that L 1 performance is achieved. N 
 
Therefore, system (3) has stochastic stability with L 1 θ1α μαβ + θ2α μ̄αβ ρ2β ≤≤ ρ2 . (29)
performance. β=1

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ZONG et al.: L 1 CONTROL OF POSITIVE S-MJSs WITH STATE DELAY 7

By tuning θ1α and θ2α , all μαβ (d) ∈ [μαβ , μ̄αβ ] can be 1Tm B Tα χα > 0 (33)
obtained. Therefore, (6) and (18) hold. 1mpα T
B Tα χα < 0, pα = 1, 2, . . . , p1α < m (34)
Remark 6: In Theorem 3, the gain matrix decomposition
1mpα T
B Tα χα > 0, pα = p1α + 1, p1α + 2, . . . , m (35)
method is used as follows:
⎡ ⎤ ια ≤≤ ιpα ≤≤ ῑα (36)
K 11α K 12α · · · K 1nα
⎢ K 21α K 22α · · · K 2nα ⎥
⎢ ⎥ then system (3) under controller (27) achieves positivity and
Kα = ⎢ . .. .. .. ⎥ stochastic stability with L 1 performance.
⎣ .. . . . ⎦
Proof: From (31)–(36), we get
K m1α K m2α · · · K mnα
⎡ ⎤ p T
K 11α K 12α · · · K 1nα pmα =1 ιpα 1mα B Tα χα
⎢ 0 0 ··· 0 ⎥ K Tα B Tα χα =
⎢ ⎥ 1Tm B Tα χα
=⎢ . .. .. .. ⎥
⎣ .. . . . ⎦ p1α p T
pα =1 ιpα 1mα B Tα χα
0 0 ··· 0 =
⎡ ⎤ 1Tm B Tα χα
0 0 ··· 0 p T
⎢K 21α K 22α · · · K 2nα ⎥ pmα =p1α +1 ιpα 1mα B Tα χα
⎢ ⎥ +
+⎢ . .. .. .. ⎥ 1Tm B Tα χα
⎣ .. . . . ⎦ p p T
0 0 ··· 0 ια pα1α=1 1mα B Tα χα
⎡ ⎤ <<
0 0 ··· 0 1Tm B Tα χα
⎢ 0 0 ··· 0 ⎥ p T
⎢ ⎥ ῑα pmα =p1α +1 1mα B Tα χα
+ ··· + ⎢ .. .. .. .. ⎥ +
⎣ . . . . ⎦ 1Tm B Tα χα
K m1α K m2α · · · K mnα  p T 
  pmα =p1α +1 1mα B Tα χα
= 1m × K 11α K 12α · · · K 1nα
1 = ια 1 −
  1Tm B Tα χα
+ 12m × K 21α K 22α · · · K 2nα
  p T
pmα =p1α +1 1mα B Tα χα
m × K m1α
+ · · · + 1m K m2α · · · K mnα + ῑα
= p=1
m
1pm K Tpα 1Tm B Tα χα
(30)  
  = ια + ῑα − ια
where K pα = K p1α K p2α · · · K pnα , p = 1, 2, . . . , m. p T
Then, we can see that a matrix of m × n dimension can pmα =p1α +1 1mα B Tα χα  
<< ια + ῑα − ια = ῑα . (37)
be represented by the form of (30). The controller gains 1Tm B Tα χα
are represented by K α = [(p=1 m 1p ιT )/(1T B T χ )], in
m pα m α α The rest is similar to Theorem 3 and is omitted here.
p T
which the numerator part p=1 1m ιpα is an m × n dimen-
m
Remark 8: For the input matrix B α , there may exist
sional matrix and the denominator part 1Tm B Tα χα is con- {B α }mn ≥≥ 0 and {B α }mn ≤≤ 0 simultaneously. In the
stant. Considering control gains (27), (A α + B α K α )T χα proof of Corollary 1, (34) and (35) play a major role. Let
is rewritten as A Tα χα + ([p=1m 1p ιT ]/[1T B T χ ])T B T χ ,
m pα m α α α α B α (; n) denote the nth column of B α . If B α (; n) ≤≤ 0, we
which means that (25) can be ensured. Next, from (26), we can will choose (34). Otherwise, we will choose (35). Furthermore,
m 1p ιT ]/[1T B T χ ])T B T χ ≤ A T χ + ι ,
get A Tα χα + ([p=1 m pα m α α α α α α α when B α ≤≤ 0, we can get Corollary 2.
which means that (22) and (23) can be obtained. Corollary 2: Assume that B α ≤≤ 0. If there hold χα ,
Remark 7: In the above theorem, it is assumed that B α ≥≥ ρ1α , ρ2α , ρ1 , ρ2 ∈ R n+ , ιpα , ια ∈ R n ∀α ∈ S , such
0, i.e., {B α }mn ≥≥ 0, where {B α }mn is the nth row and mth that (5), (19), (22)–(24), (26), and
column of matrix B α . However, B α may appear {B α }mn ≥≥

m
0 and {B α }mn ≤≤ 0 simultaneously. In addition, B α may Aα 1Tm B Tα χα + B α 1pm ιTpα + εα I ≤≤ 0 (38)
appear {B α }mn ≤≤ 0. Under the cases {B α }mn ≥≥ 0 and p=1
{B α }mn ≤≤ 0, we can get Corollary 1.
Corollary 1: Assume that {B α }mn ≥≥ 0 and {B α }mn ≤≤ 0 then system (3) under controller (27) achieves positivity and
simultaneously. If there exist χα , ρ1α , ρ2α , ρ1 , ρ2 ∈ R n+ , ιpα , stochastic stability with L 1 performance.
ῑα , ια ∈ R n ∀α ∈ S , such that (5), (19), (24), (25), and Proof: Since 1Tm >> 0, B α ≤≤ 0, and χα >> 0,
we have 1Tm B Tα χα < 0. This together with (38)
N
 m 1p ιT )/(1T B T χ )] +
gives that A α + B α [(p=1 m pα m α α
A Tα χα + ῑα + ρ1α + ρ2α + τρ1 + τρ2 + μαβ χβ
[(εα )/(1Tm B Tα χα )]I ≥≥ 0. According to (27), we get
β=1
A α + B α K α + [(εα )/(1Tm B Tα χα )]I ≥≥ 0. Thus, system (3)
+ C Tα 1s << 0 (31) achieves positivity.
N
 The rest is similar to Theorem 3 and is omitted here.
A Tα χα + ῑα + ρ1α + ρ2α + τρ1 + τρ2 + μ̄αβ χβ Remark 9: In this article, the gain matrix decomposition is
β=1 adopted which has three advantages. First, it can effectively
+ C Tα 1s << 0 (32) remove some limitations brought by iterative optimization

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8 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS

method, parameter selection method, and dual system design

method. Second, with the help of gain matrix decomposition,
positivity of the input matrices B α is relaxed, namely, the
input matrices B α can have negative elements, while it is
required in many existing literatures [4], [5], [34], [39], [40].
Third, it can be easily extended to positive systems with
uncertainty and nonlinear disturbance.
Remark 10: For the input matrices, it is discussed under
three different cases: 1) B α ≥≥ 0; 2) {B α }mn ≥≥ 0 Fig. 1. System mode.
and {B α }mn ≤≤ 0 simultaneously; and 3) B α ≤≤ 0.
Sufficient conditions for three cases have been proposed in
Theorem 3, Corollary 1, and Corollary 2 with the help of
linear programming. This answers the second question (Q2).

VI. C ASE S TUDY

In this section, a practical application to virus mutation
treatment in HIV [9] will be given to answer the third ques-
tion (Q3). Since 1990, there are several mathematical models
to characterize HIV dynamics [52], [53], in which different
Fig. 2. State trajectory in open-loop case.
mechanisms are proposed to study HIV infection dynamics.
Here, we only pay attention to the virus mutation treatment
problem that has become the key factor for patients health.
Thus, how to minimize the adverse effects of virus mutation
is an interesting topic for study.
On the other hand, sudden changes in the external environ-
ment and stochastic changes in the mode of interconnection
between subsystems always exist in many physical systems.
S-MJSs have been regarded as an effective mathematical tool
to describe these phenomena. Due to the non-negative prop-
erty and abrupt change of living environment, VMTM can be Fig. 3. State trajectory in closed-loop case.
represented by positive S-MJSs.
Consider n different viral genotypes with viral populations   
−0.05 0.2 0.2 0.1
zi : i = 1, . . . , n and N different possible drug therapies rep- B2 = , G1 = , G2 =
−0.01 −0.1 0.1 0.2
resented by the SMP δt with δt ∈ {1, 2, . . . , N }. We represent    
the behavior by an ordinary differential equation C1 = 1 1 , C2 = 1 1
 
 D 1 = D 2 = 0 ,  = 0.15, ε = 0.001.
żi (t) = ρi,δt zi (t) − zi (t) + ε mij zj (t) (39)
j =i Let τ (t) = 0.2(1 − sin(0.5t)), then τ = 0.4, h1 = 0.1. The
TR matrices are supposed as
where ε, , and mij ∈ {0, 1} are mutation rate, death or  
decay rate, and genetic connections between genotypes, that −0.5 0.5 −1.2 1.2
μ= , μ̄ = .
is, mij = 1 iff it is possible for genotype j to mutate into geno- 0.8 −0.8 1.6 −1.6
type i. Considering delay and external disturbance, (39) can  T
For given z(0) = 0.3 0.2 , δ0 = 2, and w(t) = e−t sin(t),
be rewritten as
system mode δt is shown in Fig. 1. Fig. 2 plots the unstable
ż(t) = (R (δt ) − I + εM )z(t) + A d (δt )z(t − τ (t)) state trajectory in open-loop case. This means that the quantity
+ B (δt )u(t) + G (δt )w(t) of virus mutation genotypes is increasing without treatment
control, which will seriously affecting patients’ health. For
y(t) = C (δt )z(t) + D (δt )w(t) (40) given γ = 0.8, solving Corollary 1 results in

where u(t), w(t), and y(t) are input, noise, and output; −10.9468 −33.6867
M :=[mij ]. Consider two viral populations with the parameters K1 =
−7.1654 −9.1413
as follows: 
  −7.8390 −30.0018
K2 = .
R1 =
0.05 0.8
, R2 =
0.06 0.9 −5.6315 −11.2323
0.7 0.25 0.6 0.26 
  −0.8873 0.1872
0 1 0.1 0 Then, we get A 1 + B 1 K 1 = and
M =
1 0
, A d1 =
0 0.1  0.1034 − 0.5314
  −0.65120.2767
−0.02 0.15 A 2 + B 2K 2 = . Then, the resulting CLS
A d2 =
0.1 0
, B1 = 0.1344 − 0.7863
0 0.1 −0.01 −0.1 achieves positivity.

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ZONG et al.: L 1 CONTROL OF POSITIVE S-MJSs WITH STATE DELAY
Fig. 4. Control input.
Fig. 5. Control output.
Figs. 3–5 plot the quantity of virus mutation genotypes
z(t), the treatment control u(t), and the quantity of the total
virus mutation genotypes y(t), including viral population 1
and viral population 2. From Figs. 3 and 5, we can see
that the quantity of every virus mutation genotype is reduced
to zero under the effect of therapeutic control u(t), which
means that the total virus mutation genotypes gradually dis-
appear and the patients receive an effective treatment. These
demonstrate the feasibility of the main results.
VII. C ONCLUSION
In this article, we have investigated the L 1 control problem
for positive delayed S-MJSs. Sufficient conditions have been
established to achieve positivity and stochastic stability with
L 1 -gain performance. By resorting to gain matrix decomposi-
tion approach, solvable expressions for the developed feedback
controller are cast in the strict linear programming forms
under three different cases as B α ≥≥ 0, {B α }mn ≥≥ 0,
and {B α }mn ≤≤ 0 simultaneously, and B α ≤≤ 0. A prac-
tical example of virus mutation treatment in HIV is utilized
to demonstrate the advantages of the main results. As positive
S-MJSs find extensive applications, the proposed methods can
be extended to fuzzy control and sliding mode control for
positive S-MJSs in the future.
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Guangdeng Zong (Senior Member, IEEE) was
born in Linyi, China, in 1976. He received the
M.S. degree in mathematics from Qufu Normal
University, Qufu, China, in 2002, and the Ph.D.
degree in control theory and control engineer-
ing from the Control Science and Engineering
Department, School of Automation, Southeast
University, Nanjing, China, in 2005.
He is a Full Professor with Qufu Normal
University, Rizhao, China. He was a Postdoctoral
Fellow with the School of Automation, Nanjing
University of Science and Technology, Nanjing, from 2006 to 2009. In 2010,
he was a Visiting Professor with the Department of Electrical and Computer
Engineering, Utah State University, Logan, UT, USA. In 2012, he was a
Visiting Fellow with the School of Computing, Engineering and Mathematics,
University of Western Sydney, Penrith, NSW, Australia. In 2016, he was a
Visiting Professor with the Institute of Information Science, Academia Sinica,
Taipei, Taiwan. From 2018 to 2019, he visited the Department of Mechanical
Engineering, University of Hong Kong, Hong Kong.
Prof. Zong is currently an Editorial Board Member for some interna-
tional journals, such as IEEE ACCESS, the International Journal of Control,
Automation, and Systems, and Journal of Machines.
Wenhai Qi (Member, IEEE) was born in Taian,
China, in 1986. He received the B.S. degree in
automation and the M.S. degree in control the-
ory and control engineering from Qufu Normal
University, Jining, China, in 2008 and 2013, respec-
tively, and the Ph.D. degree in control theory and
control engineering from Northeastern University,
Shenyang, China, in 2016.
He is currently working with the School of
Engineering, Qufu Normal University, Rizhao,
China. From July 2018 to August 2018, he visited
the Department of Electrical Engineering, Yeungnam University, Gyeongsan,
South Korea. From December 2019 to January 2020, he visited the Department
of Mechanical Engineering, University of Hong Kong, Hong Kong. His
research interests include Markov jump systems, switched systems, positive
systems, and networked control systems.
Dr. Qi is currently an Editorial Board Member for some international jour-
nals, such as the International Journal of Control, Automation, and Systems
and Journal of Information Processing Systems.
Hamid Reza Karimi (Senior Member, IEEE) was
born in 1976. He received the B.Sc. degree (First
Hons.) in power systems from the Sharif University
of Technology, Tehran, Iran, in 1998, and the M.Sc.
and Ph.D. degrees (First Hons.) in control systems
engineering from the University of Tehran, Tehran,
in 2001 and 2005, respectively.
From 2009 to 2016, he was a Professor
of Mechatronics and Control Systems with the
University of Agder, Kristiansand, Norway. Since
2016, he has been a Professor of Applied Mechanics
with the Department of Mechanical Engineering, Politecnico di Milano, Milan,
Italy. His current research interests include control systems and mechatronics.
Prof. Karimi was awarded as the Web of Science Highly Cited Researcher
in Engineering from 2016 to 2019. He is currently the Editor-in-Chief of
the Journal of Cyber-Physical Systems, Journal of Machines, International
Journal of Aerospace System Science and Engineering, and Journal of
Designs, the Section Editor-in-Chief of the Journal of Electronics and Journal
of Science Progress, the Subject Editor of the Journal of The Franklin Institute,
and a Technical Editor, Moderator for IEEE TechRxiv or an Associate Editor
for some international journals, such as the IEEE T RANSACTIONS ON F UZZY
S YSTEMS, IEEE T RANSACTIONS ON N EURAL N ETWORKS AND L EARNING
S YSTEMS, IEEE T RANSACTIONS ON C IRCUITS AND S YSTEMS —PART I:
R EGULAR PAPERS, IEEE/ASME T RANSACTIONS ON M ECHATRONICS, and
IEEE T RANSACTIONS ON S YSTEMS , M AN AND C YBERNETICS : S YSTEMS.
He is a member of the Agder Academy of Science and Letters, the
IEEE Technical Committee on Systems with Uncertainty, the Committee
on Industrial Cyber-Physical Systems, the IFAC Technical Committee on
Mechatronic Systems, the Committee on Robust Control, and the Committee
on Automotive Control.