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Procedia Computer Science 00 (2021) 000–000
The 8th International Conference on Information Technology and Quantitative Management
Procedia Computer Science 00 (2021) 000–000
The 8th
Procedia (ITQM
Computer 2020
Science & 2021)
199 (2022) 1024–1030
th International Conference on Information Technology and Quantitative Management
th
The 8 International Conference on(ITQM Information
2020 &Technology
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The 8th International Conference on(ITQM 2020 &Technology
Information 2021) and Quantitative Management
Input-to-State
The 8th International Stability
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2020 &Technology Systems
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Input-to-State Max-Separable
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Input-to-State Max-SeparableStability for Discrete-time
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Input-to-State Max-SeparableStability for
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Da Chen , Xingwen Discrete-time
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University, Chengdu 610041, China.
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University, Chengdu
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Electrical Engineering, Southwest
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b Archives of Southwest Minzu University, Chengdu 610041, China.
University, Chengdu 610041, China.
b Archives of Southwest Minzu University, Chengdu 610041, China.
Abstract
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Keywords: Discrete-time monotone systems; input-to-state stability; max-separable Lyapunov
1. Introduction
A system
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1. Introduction
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1. Introduction
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∗ Corresponding author. Tel.: 13880761332 .
discrete-time
A stabilization monotone
theorem systems,
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E-mail address: xingwenliu@gmail.com.
most
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nonexpansive monotone
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∗ Corresponding theorem for 13880761332
author. Tel.: discrete strongly
. monotone and nonexpansive dynamical systems on a Banach lattice
∗∗E-mail
Corresponding author.
address: author. Tel.: 13880761332
13880761332 ..
xingwenliu@gmail.com.
Corresponding Tel.:
∗E-mail
E-mail address: xingwenliu@gmail.com.
address: author.
Corresponding xingwenliu@gmail.com.
Tel.: 13880761332 .
1877-0509
∗E-mail © 2021 The
address: Authors. Published by Elsevier B.V.
xingwenliu@gmail.com.
Corresponding author. Tel.: 13880761332 .
This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0)
E-mail address: xingwenliu@gmail.com.
Peer-review under responsibility of the scientific committee of the The 8th International Conference on Information Technology and
Quantitative Management (ITQM 2020 & 2021)
10.1016/j.procs.2022.01.129
 Da Chen et al. / Procedia Computer Science 199 (2022) 1024–1030 1025
Da Chen, Xingwen Liu, Yulin Song / Procedia Computer Science 00 (2021) 000–000

is proved, but this result is well suited to prove stabilization of solutions of T-periodic initial-boundary value
problems towards a T-periodic solution in [11]. Monotone maps are meaningful to analyze the global asymptotic
stability and applications for discrete-time monotone systems [12].
In contrast to the work [13], where there exists sum-separable Lyapunov functions for networks of ISS systems.
A shortcoming of that work in comparison to the existing literature on max-separable Lyapunov functions is that
the theory does not provide Lyapunov functions for ISS, but only for 0-GAS. In this case, this paper aims to use
max-separable Lyapunov function as ISS-Lyapunov function to analyze discrete-time nonlinear monotone systems
with perturbations. In our work, the stability of discrete-time monotone systems with disturbances has proved via
max-separable Lyapunov function as Input-to-State Stability Lyapunov Function (ISS-LF).
The rest is organized as follows: Section 2 recalls the definitions of Input-to-State Stability (ISS) and dissipative-
form ISS-Lyapunov functions. Section 3 shows that the origin of the discrete-time monotone nonlinear system is
asymptotically stable when there is no disturbance, it also proves that the max separable Lyapunov function can be
used as ISS-Lyapunov function to analyze the stability of discrete-time monotone systems with disturbances, and
illustrates that the existence of such a function is indeed equivalent to the ISS property for discrete-time monotone
systems. Conclusions are presented in section 4 .
Notations: R is the set of real numbers, R+ = [0, ∞) represents the nonnegative real numbers, Rn+ denotes the
positive orthant in Rn including boundary. x is the Euclidean norm of vector of x ∈ Rn . N+ denotes the positive
integers. In = {1, . . . , n}. For vectors x = [x1 , . . . , xn ]T and y = [y1 , . . . , yn ]T in Rn , x  y(x ≺ y) if xi  yi (xi ≺ yi )
for all i ∈ In . A function ρ: R+ → R+ is said to be of class K if ρ is continuous and strictly increasing and
ρ(0) = 0, and ρ(x) ∈ K∞ if ρ(x) ∈ K and if ρ(x) → ∞ as x → ∞. A continuous function ρ belongs to class KL, if
ρ(b, c) is of class K with respect to b for fixed c, and for every fixed b, ρ(b, c) is decreasing with respect to c and
lim ρ(b, c) = 0. Finally e = [1, . . . , 1]T is the vector whose components are all 1.
c→∞

2. Problem Formulation and Preliminaries

Consider the following discrete-time system:

x(k + 1) = f (x(k)), k ≥ 0 (1)
where x is the system state, f : Rn+
→ Rn+
is continuous and f (0) = 0. Let x(k, x0 ) denote the solution to (1) at the
time k starting form the initial condition x0 ∈ Rn+ .
Definition 1 ([1]). System (1) is called monotone if the implication
y0  x0 ⇒ x(k, y0 )  x(k, x0 ), k ≥ 1 (2)
holds for any initial conditions x0 , y0 ∈ Rn+ .
The definition states that trajectories of monotone systems starting at ordered initial conditions preserve the
same ordering during evolution. Choosing y0 = 0 in (2), since x(k, 0) = 0 for all k, it is easy to see that
x0 ∈ Rn+ ⇒ x(k, x0 ) ∈ Rn+ , k ≥ 1 (3)
Under the assumption that origin is an equilibrium for system (1), it is well known that the positive orthant Rn+ is
invariant if and only if f : Rn+ → Rn+ is continuous and monotone [14]. Consequently the following inequality
holds for discrete-time monotone system

x  y ⇒ f (x)  f (y), x, y ∈ Rn+ (4)

The origin is asymptotically stable if it is stable and attractive in the sense of Lyapunov.

Definition 2 ([15]). The following definition of stability to tailed for discrete-time monotone systems:

(i). The equilibrium point x = 0 of the system (1) is stable, if for every ε > 0, there exists a δ > 0, such that
0  x0  δ1n implies 0  x(k, x0 )  ε1n for all k ∈ N+ .
1026 Da Chen et al. / Procedia Computer Science 199 (2022) 1024–1030
Da Chen, Xingwen Liu, Yulin Song / Procedia Computer Science 00 (2021) 000–000

(ii). The origin is said to be asymptotically stable if it is stable and attractive, that is, if 0  x0  δ1n , then
x(k, x0 ) → 0 as k → ∞.

We will use the so-called max-separable Lyapunov function to study asymptotic stability of discrete-time
monotone systems.
Definition 3. Define
V(x) = max Vi (xi ) (5)
i∈In

with scalar functions Vi : R+ → R+ . The difference of (1) is

V(x) = V( f (x)) − V(x) (6)
Further define J(x)
 
J(x) = j ∈ In |V j (x j ) = V(x) (7)

The following result shows that the difference of V(x) in (5) with Vi admits an explicit expression.
Proposition 1. The difference (6) is given by

V(x) = max Vi ( fi (x)) − V j (x j ) ≥ V j ( f j (x)) − V j (x j ), j ∈ J(x) (8)

i∈In

Definition 4 ([14, Lemma 2.2]). Denote the decay set Ω ⊂ Rn+ with respect to system (1):
 
Ω = x ∈ Rn+ : f (x) ≺ x (9)

3. Main Results

Theorem 1. Assume that the system (1) is monotone. For some compact set of the form
 
χ = x ∈ Rn+ |0 ≤ x ≤ v (10)
with v = [v1 , ...vn ]T  0. There exists a max-separable Lyapunov function V: χ → R+ as in (5) with Vi : [0, vi ] →
R+ for all i ∈ In such that
α1 (xi ) ≤ Vi (xi ) ≤ α2 (xi ) (11)
holds for all 0 ≤ xi ≤ vi and for some functions α1 , α2 of class K, there exists a positive definite function µ such
that
V(x) = V( f (x)) − V(x) ≤ −µ(V(x)) (12)
holds for all x ∈ χ. Then the origin of system (1) is asymptotically stable.
Proof. First note that it follows directly from Lyapunov stability theory [16]. Then the origin of system (1) is
asymptotically stable. Hence, the proof is complete.
Consider a system of the following form for discrete-time monotone systems (1) with disturbances:
x(k + 1) = f (x(k), u(k)), k ≥ 0 (13)
where the state x ∈ Rn+ , and the disturbances u ∈ Rm
+ . We also assume that f (0, 0) = 0, i.e. 0 is an equilibrium of
the zero-input system.
Definition 5. The system (13) is input-to-state stable (ISS) from u(k) to x(k) if there exist β ∈ KL, γ ∈ K such
that
 f ku (x) ≤ β(x, k) + γ(u) (14)
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Definition 6 ([17]). A dissipative-form ISS-Lyapunov function for the system (13) is a function V(x) : Rn → R+
such that there exist α1 , α2 ∈ K∞ , γ ∈ K so that for all x ∈ Rn and u ∈ Rm
α1 (x) ≤ V(x) ≤ α2 (x) (15a)
V( f (x, u)) − V(x) ≤ −α1 (x) + γ(u) (15b)
Theorem 2. Suppose that there exists a max-separable Lyapunov function V(x) of (5) for system (13) satisfying
(11) and (12) for some functions α1 , α2 of class K∞ . Assume that there exist functions α, γ ∈ K such that
V(x) = V( f (x)) − V(x) ≤ −α(V(x)) + γ(u) (16)
for all x ∈ Rn+ , u ∈ Rm
+. If sup α(s) ≥ sup γ(s), then the monotone system (13) is ISS.
Proof. The proof closely follows from [18, Lemma 1] to show that the monotone system is input-to-state stability.
The condition sup α ≥ sup γ implies
 that there exists C > 1 such that sup α ≥ C sup γ.
s
Define ψ ∈ K∞ by ψ(s) := α(r)dr for all s ∈ R+ and V̄ := ψ(V). In Proposition 1, we have V(x) =
0
max Vi (xi ) = V j (x j ) such that max Vi ( fi (x)) ≥ V j ( f j (x)).
i∈In i∈In
For V(x(k + 1)) ≤ 12 V(x) ⇒ V j ( f j (x, u)) ≤ 12 V j (x j ) we have
1
ψ(V j ( f j (x, u))) − ψ(V j (x j ) ≤ ψ( V j (x j )) − ψ(V j (x j ))
2
1 1
≤ α( V j (x j ))( V j (x j ) − V j (x j )) (17)
2 2
1 1
≤ −α( V j (x j )) V j (x j ) + γ(u)
2 2
For V(x(k + 1)) > 12 V(x) ⇒ V j ( f j (x, u)) > 12 V j (x j ), the mean value yields
ψ(V j ( f j (x, u))) − ψ(V j (x j ))
= α(V j ( f j (x, u)) − θ(V j ( f j (x, u)) − V j (x j )))(V j ( f j (x, u)) − V j (x j )
≤ α(V j ( f j (x, u)) + θ(−µ(V(x)))µ(V(x))
≤ α(V j ( f j (x, u)) − θ(µ(V(x)))µ(V(x))
for some θ ∈ (0, 1) and consequently
ψ(V j ( f j (x, u))) − ψ(V j (x j )) ≤ α(V j (x j ))(V j ( f j (x, u)) − V j (x j )) ≤ −α(V j (x j ))µ(V(x)) (18)
1 1
For V(x(k + 1)) > ⇒ V j ( f j (x, u)) >
2 V(x) 2 V j (x j )
consider two cases.
1
The first case is when C α(V j (x j )) > γ(u), then
α(V j (x j ))(V j ( f j (x, u)) − V j (x j ))
1
≤ α(V j (x j ))(−α(V j (x j )) + α(V j (x j )))
C
1 1 (19)
≤ −α( V j (x j ))(1 − )α(V j (x j ))
2 C
1 1
≤ −α( V j (x j ))(1 − )α(V j (x j )) + γ(u)
2 C
The second case is when C1 α(V j (x j )) ≤ γ(u), since sup α ≥ C sup γ, we see that α−1 (s) exists for all s ∈
[0, C sup γ], and hence we have that
α(V j ( f j (x, u)) ≤ α(V j (x j ) + γ(u)) ≤ α(α−1 (Cγ(u)) + γ(u))
Define π(s) := α(α−1 (Cγ(s)) + γ(s)), then
α(( f j (x, u)))(V j ( f j (x, u)) − V j (x j ))
≤ α(( f j (x, u)))(−α(V j (x j ) + γ(u)))
≤ −α(( f j (x, u)))α(V j (x j ) + π(u)))γ(u))) (20)
1
≤ −α( V j (x j ))α(V j (x j ) + π(u)))γ(u)))
2
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Therefore, with ᾱ ∈ K∞ and γ̄ ∈ K defined by

 
s s s 1 s
ᾱ := min α( ) , α( )(1 − )α(s), α( )α(s)
2 2 2 C 2
γ̄ := max {γ(s), π(s)γ(s)}
Combining (17)−(20) yields
V̄(x(k + 1)) − V̄(x(k)) ≤ −ᾱ(V j (x j )) + γ̄(u) ≤ −ᾱ ◦ α1 (u) + γ̄(u)
so that (13) is ISS.

Corollary 1. Suppose that there exists a max-separable Lyapunov function V(x) of (5) for system (13) satisfying
(11) and (12) for some functions α1 , α2 of class K∞ . Assume that there exist a continuous positive definite function
α, and there exists a function γ ∈ K such that
V(x) = V( f (x)) − V(x) ≤ −α(V(x)) + γ(u) (21)
for all x ∈ Rn+ , u ∈ Rm
+ . If lim inf α(s) ≥ sup γ(s), then the monotone system (13) is ISS.
s→∞

It is known that under the given assumptions the system (16) and(21) must be ISS from u to x, cf. [19].

Remark 1. Assume that the monotone system (13) is given and suppose that there exists a max-separable Lya-
punov function V of (5) satisfying (11) and (12) for some functions α1 , α2 of class K∞ , The function V(x) is
also input-to-state stable Lypunov function (ISS-LF) satisfying (16), so that the system (13) admits a global max-
separable Lyapunov function for all x ∈ Rn+ , then the origin is globally asymptotically stable (GAS). Thus, we
have the Theorem 3.
Theorem 3. The following statements are equivalent:

(i) There exists a monotone ISS Lyapunov function for (13).

(ii) The system (13) is input-to-state stable.

(iii) If the disturbance u(k) is a proper and positive definite map ζ : Rn+ → Rn+ with respect to x(k) so that the
origin is globally asymptotically stable with respect to
x(k + 1) = f (x(k)) := f (x(k), ζ(x(k))) (22)

(iv) The system (13) has the asymptotic gain property.

Proof. (i) ⇔ (ii): As the Theorem 2 has proven and in the classic Lyapunov stability theory, we can prove that a
system is ISS if and only if it admits an ISS Lyapunov function.
(i) ⇒ (iii): We start with an ISS Lyapunov function V(x) : Rn+ → R+ which satisfies
V(x) ≥ γ(u) ⇒ V( f (x, u)) − V(x) ≤ −α(V(x)) (23)
for some α, γ ∈ K. Define a proper and positive map ζ : Rn+ → Rn+ by ζ(x) := γ−1 (V(x))e, the vector (1, ...1)T
will be denoted by e, and we consider (22). The choice of ζ ensures that the decay condition in (23) is always
satisfied, because
V(x) = γ(γ−1 (V(x))) = γ(γ−1 (V(x)e) = γ(ζ(x)) = γ(u)
Hence, for (23) we have V( f (x)) < V((x) whenever x > 0. By standard Lyapunov argument, it is shown that (23)
is GAS and the proof is complete.
(iii) ⇒ (i): Due to (23) is globally asymptotically stable, and there exists a proper and monotone Lyapunov
function V(x) : Rn+ → R+ for some α1 , α2 ∈ K∞ in (11), we have
α1 (x) ≤ V(x) ≤ α2 (x) (24)
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The map ζ is proper and positive definite, hence, there exists α̃ ∈ K∞ such that
α̃(x)e ≤ ζ(x) (25)
Define γ : α2 ◦ α̃−1 ∈ K∞ , now consider the case that V(x) ≥ γ(u). This implies

α2 (x) ≥ γ(u) = γ : α2 (α̃−1 (u))

and thus
α2 (x)e ≥ ue = u
Application of (25) yields
ζ(x) ≥ α̃(x)e ≥ u (26)
By the monotonicity of V(x) and using (26) we get
V( f (x, u)) ≤ V( f (x, ζ(x))) < V(x) (27)
proving that V(x) ≥ γ(u) implies V( f (x, u)) < V(x). This shows the existence of an ISS Lyapunov function for
monotone system (13).
(ii) ⇔ (iv): The results have shown in [20]. Now we have shown that (iii) ⇔ (i) ⇔ (ii) ⇔ (iv). Thus, the
proof is complete.
Remark 2. There exists a global max-separable Lyapunov function for the monotone system (13), so that the
monotone system (13) is global asymptotic stability of the origin when the disturbance u is a proper and positive
definite map with respect to the state x. As a case note that the local max-separable Lyapunov function also
establishes local input-to-state stability, that is, input-to-state stability for states and inputs confined to small
compact sets. We see that bounded disturbance input u results in a bounded state trajectory, and it is similar to
sum-separable Lyapunov function in [21].

Proposition 2 ([20, Theorem 4]). There exist proper and positive definite functions σ : R+ → Rn+ and ρ : R+ →
Rm
+ such that

f (σ(r), ρ(r)) ≺ σ(r) (28)

for all r > 0.
Theorem 4. There exists a max-separable Lyapunov function as an ISS-Lyapunov function satisfying Proposition
(2).

Proof. Let Vi (xi ) = σ−1 −1 −1

i (xi ), then V(x) = max σi (xi ) and γ(r) = max ρi (r), σi , ρi ∈ K∞ . Clearly, V(x) is
i∈In i∈In
monotone and satisfies
V(x) ≤ max σ−1
i (x) =: α2 (x) (29)
i∈In

since V(x) ≥ x, we have

max σi (V(x)) = σ(V(x)) ≥ x (30)
i∈In

which implies V(x) ≥ α1 (x) for α1 = (max σi )−1 ∈ K∞ , these inequalities establish (15). Consider x ∈ Rn+ , u ∈
i∈In
Rm −1
+ with x  0, and assume that V(x) ≥ γ(u). It follows V(x) ≥ max ρi (ui ), equivalently, ρ(V(x)) ≥ u.
i∈In
Consequently, due to (28), we have
V(x) = V(σ(V(x))) > V( f (σ(V(x), ρ(V(x))))) ≥ V( f (x, u)) (31)
This proves that V(x) is an ISS-Lyapunov function for system (13).
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4. Conclusion

We have provided some complete characterizations of ISS-Lyapunov functions for discrete-time monotone
nonlinear systems. A max-separable Lyapunov function is used as an ISS-Lyapunov function to analyze the
stability of discrete-time monotone systems with disturbances. This ensures that there exist some necessary and
sufficient conditions for ISS, which is also the innovation of this paper. Our future work aims to extend the stability
properties of monotone systems without disturbances to monotone systems with disturbances, there may be some
equivalent statements or necessary and sufficient conditions.

Acknowledgements

This work was partially supported by National Nature Science Foundation (62073270), State Ethnic Affairs
Commission Innovation Research Team, Innovative Research Team of the Education Department of Sichuan
Province (15TD0050), and Fundamental Research Funds for the Central Universities (2021HQZZ02).

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