Section: New Results
Homogeneity Theory
Homogeneity is one of the tools we develop for finitetime convergence analysis. In 2016 this concept has received various improvements:

Frequency domain approach to analysis of homogeneous nonlinear systems [85], [46]:
Analysis of feedback sensitivity functions for implicit Lyapunov functionbased control system is developed. The Gang of Four and loop transfer function are considered for practical implementation of the control via frequency domain control design. The effectiveness of this control scheme is demonstrated on an illustrative example of roll control for a vectored thrust aircraft.

Homogeneous distributed parameter systems [72], [32]:
A geometric homogeneity is introduced for evolution equations in a Banach space. Scalability property of solutions of homogeneous evolution equations is proven. Some qualitative characteristics of stability of trivial solution are also provided. In particular, finitetime stability of homogeneous evolution equations is studied. Classical theorems on existence and uniqueness of solutions of nonlinear evolution equations are revised. A universal homogeneous feedback control for a finitetime stabilization of linear evolution equation in a Hilbert space is designed using homogeneity concept. The design scheme is demonstrated for distributed finitetime control of heat and wave equations.

Robustness of Homogenous Systems:

[93], [36] The problem of stability robustness with respect to timevarying perturbations of a given frequency spectrum is studied applying homogeneity framework. The notion of finitetime stability over time intervals of finite length, i.e. shortfinitetime stability, is introduced and used for that purpose. The results are applied to demonstrate some robustness properties of the threetank system.

The uniform stability notion for a class of nonlinear timevarying systems is studied in [35] using the homogeneity framework. It is assumed that the system is weighted homogeneous considering the time variable as a constant parameter, then several conditions of uniform stability for such a class of systems are formulated. The results are applied to the problem of adaptive estimation for a linear system.

Robustness with respect to delays is discussed in [84], [45] for homogeneous systems with negative degree. It is shown that if homogeneous system with negative degree is globally asymptotically stable at the origin in the delayfree case then the system is globally asymptotically stable with respect to a compact set containing the origin independently of delay. The possibility of applying the result for local analysis of stability for not necessary homogeneous systems is analyzed. The theoretical results are supported by numerical examples.


Finitetime and Fixedtime Control and Estimation:

[61], [46] A switched supervisory algorithm is proposed, which ensures fixedtime convergence by commutation of finitetime or exponentially stable homogeneous systems of a special class, and a finitetime convergence to the origin by orchestrating among asymptotically stable systems. A particular attention is paid to the case of exponentially stable systems. Finitetime and fixedtime observation problem of linear multiple input multiple output (MIMO) control systems is studied. The nonlinear dynamic observers , which guarantee convergence of the observer states to the original system state in a finite and a fixed (defined a priori) time, are studied. Algorithms for the observers parameters tuning are also developed.

[16] This paper focuses on the design of fixedtime consensus for multiple unicycletype mobile agents. A distributed switched strategy, based on local information, is proposed to solve the leaderfollower consensus problem for multiple nonholonomic agents in chained form. The switching times and the prescribed convergence time are explicitly given regardless of the initial conditions. Simulation results highlight the efficiency of the proposed method.


Discretization of Homogeneous Systems:

[63] Sufficient conditions for the existence and convergence to zero of numeric approximations to solutions of asymptotically stable homogeneous systems are obtained for the explicit and implicit Euler integration schemes. It is shown that the explicit Euler method has certain drawbacks for the global approximation of homogeneous systems with nonzero degrees, whereas the implicit Euler scheme ensures convergence of the approximating solutions to zero.

[69] The known results on asymptotic stability of homogeneous differential inclusions with negative homogeneity degrees and their accuracy in the presence of noises and delays are extended to arbitrary homogeneity degrees. Discretization issues are considered, which include explicit and implicit Euler integration schemes. Computer simulation illustrates the theoretical results.


MultiHomogeneity and differential inclusions:

The notion of homogeneity in the bilimit from is extended in [21] to local homogeneity and then to homogeneity in the multilimit. The converse Lyapunov/Chetaev theorems on (homogeneous) system instability are obtained. The problem of oscillation detection for nonlinear systems is addressed. The sufficient conditions of oscillation existence for systems homogeneous in the multilimit are formulated. The proposed approach estimates the number of oscillating modes and the regions of their location. Efficiency of the technique is demonstrated on several examples.

In [94], the notion of geometric homogeneity is extended for differential inclusions. This kind of homogeneity provides the most advanced coordinatefree framework for analysis and synthesis of nonlinear discontinuous systems. The main qualitative properties of continuous homogeneous systems are extended to the discontinuous setting: the equivalence of the global asymptotic stability and the existence of a homogeneous Lyapunov function; the link between finitetime stability and negative degree of homogeneity; the equivalence between attractivity and asymptotic stability are among the proved results.
