Positive-real systems under lossless transformations: Invariants and reduced order models

In this paper, positive-real systems under lossless positive-real transformations are investigated. Let G(s) be the transfer function matrix of a continuous-time positive-real system of order n and F(s) a lossless transfer function of order n_F. We prove here that the lossless positive-real transformed system, i.e. G(F(s)), is also positive-real. Furthermore, the stochastic balanced representation of positive-real systems under lossless positive-real transformations is considered. In particular, it is proved that the positive-real characteristic values π_j of G(F(s)) are the same of G(s) each with multiplicity n_F, independently from the choice of F(s). This property is exploited in the design of reduced order models based on stochastic balancing. Finally, the proposed technique is a passivity preserving model order reduction method, since it is proven that the reduced order model of G(F(s)) is still positive-real. An error bound for truncation related to the invariants π_j is also derived.