Balanced truncation for bilinear time-delay systems with approximate Gramians
A balanced truncation (BT) procedure is presented to achieve a structure-preserving model order reduction (MOR) for bilinear time-delay systems in this paper. We attempt to define Gramians for bilinear time-delay systems based on Volterra series theory. The controllability and observability Gramians in the frequency domain are given explicitly, which align with the ones of bilinear systems and time-delay systems. Based on the derived Gramians, a BT procedure is provided to produce reduced order models with the same structure. We also propose a numerical quadrature rule based on the truncated Laguerrre expansion to give an accurate approximation to Gramians. The resulting low-rank structure of approximate Gramians benefits a lot the efficient execution of the whole MOR procedure. Two numerical examples are simulated to showcase the efficiency of our approach.