Gramian approach for control costs estimation

The gramian-based approach is proposed for estimation of control costs. The inputs of object are considered to be finite-dimensional. Authors proposed to consider the norm of control vector as a measure of system power consumption, which could be estimated by upper and lower bounds. These control cost bounds are calculated by means of singular values of control costs gramian and the norm of initial state vector while control costs gramian is calculated from Lyapunov equation. The algorithm and numerical example for harmonic exogenous impact are attached.