IEEE Transactions on Automatic Control, Vol.49, No.11, 2049-2054, 2004
On the structure of the solutions of discrete-time algebraic Riccati equation with singular closed-loop matrix
The classical discrete-time algebraic Riccati equation (DARE) is considered in the case when the corresponding closed-loop matrix is singular. It is shown that in this case all the symmetric solutions of the DARE coincide along some directions. A parametrization of the set of solutions in terms of a reduced-order DARE is then obtained. This parametrization provides an algorithm (that appears to be computationally very attractive when the multiplicity of the eigenvalue lambda = 0 of the closed-loop matrix is large) for the computation of the solutions of the DARE. The same issue for the generalized DARE is also addressed.
Keywords:algebraic Riccati equation (ARE);closed-loop matrix;discrete-time linear quadratic (LQ) optimal control;order reduction;symplectic pencils