Turnpike properties in nonlinear system identification

Abstract

We analyze the problem of learning general discrete-time nonlinear state-space models using the simulation error minimization (SEM) method. In this setting, model parameters are typically learned by minimizing the mismatch between simulated and measured outputs over a training dataset, or shorter subsequences extracted from it. Specifically, we study the cumulative output turnpike property of the underlying SEM optimization problem, which requires optimal output sequences emanating from a fixed initial state to approach and remain close to an optimal output sequence of the corresponding SEM problem with free initial state. In the presence of non-unique optimal output sequences---as may arise, for instance, in fully black-box system identification using neural networks---the property is formulated with respect to the closest such sequence. Turnpike behavior is generally desirable in practice, as it provides a theoretical justification for employing computationally more tractable SEM formulations with fixed initial states while ensuring that their optimal output sequences remain close to unconstrained optimal ones. Under a mild reachability condition, we establish equivalence between the cumulative turnpike property, coercivity of the value function, and a tailored notion of strict dissipativity. We additionally introduce a cardinality turnpike property and show that it is strictly weaker than the cumulative notion. Finally, we establish sufficient conditions for turnpike behavior based on incremental output stability, convexity of the stage cost, and a suitable optimality condition, and illustrate the theory by means of a numerical example.