Essentially negative news about positive systems

In this paper the discretisation of switched and non-switched linear positive systems using Pade approximations is considered. Pade approximations to the matrix exponential are sometimes used by control engineers for discretising continuous time systems and for control system design. We observe that this method of approximation is not suited for the discretisation of positive dynamic systems. for two key reasons. First, certain types of Lyapunov stability are not, in general, preserved. Secondly, and more seriously, positivity need not be preserved, even when stability is. Finally we present all alternative approximation to the matrix exponential which preserves positivity, and linear and quadratic stability. (C) 2012 Published by Elsevier Inc.