Feedback stabilization of discrete-time quantum systems subject to non-demolition measurements with imperfections and delays
Hadis Amini, Abhinav Somaraju, Igor Dotsenko, Clement Sayrin, Mazyar Mirrahimi, Pierre Rouchon
Keywords
Quantum non-demolition measurements; Measurement-based feedback; Photon-number states (Fock states); Quantum filter; Strict control Lyapunov function; Markov chain; Feedback stabilization.
Introduction
Manipulating quantum systems allows one to accomplish tasks far beyond the reach of classical devices. Quantum information is paradigmatic in this sense: quantum computers will substantially outperform classical machines for several problems . Though significant progress has been made recently, severe difficulties still remain, amongst which decoherence is certainly the most important. Large systems consisting of many qubits must be prepared in fragile quantum states, which are rapidly destroyed by their unavoidable coupling to the environment. Measurement-based feedback and coherent feedback are possible routes towards the preparation, protection and stabilization of such states. For coherent feedback strategy, the controller is also a quantum system coupled to the original one (see and the references therein). This paper is devoted to measurement-based feedback where the controller and the control input are classical objects . The results presented here are directly inspired by a recent experiment demonstrating that such a quantum feedback scheme achieves the on-demand preparation and stabilization of non-classical states of a microwave field.
Following and relying on continuous-time Lyapunov techniques exploited in , an initial measurement-based feedback was proposed in . This feedback scheme stabilizes photon-number states (Fock states) of a microwave field (see e.g. for a physical description of such cavity quantum electrodynamics (CQED) systems). The controller consists of a quantum filter that estimates the state of the field from discrete-time measurements performed by probe atoms, and secondly a stabilizing state-feedback that relies on Lyapunov techniques. The discrete-time behavior is crucial for a possible real-time implementation of such controllers. Closed-loop simulations reported in have been confirmed by the stability analysis performed in . In the experimental implementation , the state-feedback has been improved by considering a strict Lyapunov function: this ensures better convergence properties by avoiding the passage by high photon numbers during the transient regime. The goal of this paper is to present, for a class of discrete-time quantum systems, the mathematical methods underlying such improved Lyapunov design. Our main result is given in Theorem 4.2 where closed-loop convergence is proved in presence of delays and measurement imperfections.
The state-feedback scheme may be applied to generic discrete-time finite-dimensional quantum systems using controlled measurements in order to deterministically prepare and stabilize the system at some pre-specified target state. The dynamics of these systems may be expressed in terms of a (classical) nonlinear controlled Markov chain, whose state space consists of the set of density matrices on some Hilbert space. The jumps in this Markov chain are induced by quantum measurements and the associated jump probabilities are state-dependent. These systems are subject to a discrete-time sequence of positive operator valued measurements (POVMs ) and we use these POVMs to stabilize the system at the target state. By controlled measurements, we mean that at each time-step the chosen POVM is not fixed but is a function of some classical control signal , similar to . However, we assume that when the control is zero, the chosen POVM performs a quantum non-demolition (QND) measurement for some orthonormal basis that includes the target state. The feedback-law is based on a Lyapunov function that is a linear combination of a set of martingales corresponding to the open-loop QND measurements. This Lyapunov function determines a “distance” between the target state and the current state. The parameters of this Lyapunov function are given by inverting Metzler matrices characterizing the impact of the control input on the Kraus operators defining the Markov processes and POVMs. The (graph theoretic) properties of the Metzler matrices are used to construct families of open-loop supermartingales that become strict supermartingales in closed-loop. This fact provides directly the convergence to the target state without using the invariance principle.
A common problem that occurs in quantum feedback control is that of delays between the measurement process and the control process . In this paper we demonstrate, using a predictive quantum filter, that the proposed scheme works even in the presence of delays. Convergence analysis is done for perfect and imperfect measurements. For imperfect measurements, the dynamics of the system are governed by a nonlinear Markov chain given in .
In both the perfect and imperfect measurement situations we prove a robustness property of the feedback algorithm: the convergence of the closed-loop system is ensured even when the feedback law is based on the state of a quantum filter that is not initialized correctly. This robustness property, is similar in spirit to the separation principle proven in . We use the fact that the state space is a convex set and the target state, being a pure state, is an extreme point of this convex state space and therefore cannot be expressed as a convex combination of any other states. One then uses the linearity of the conditional expectation to prove the robustness property. Our result is only valid for target quantum states that are pure states.
The paper is organized as follows. In Section 2, we describe the finite dimensional Markov model together with the main modeling assumptions in the case of perfect measurements and study the open-loop behavior (Theorem 2.1) which can be seen as a non-deterministic protocol for preparing a finite number of isolated and orthogonal quantum states. In Section 3, we present the main ideas underlying the construction of these control-Lyapunov functions : a Metzler matrix attached to the second derivative of the measurement operators and a technical lemma assuming this Metzler matrix is irreducible. Finally, Theorem 3.1 describes the stabilizing state feedback derived from . The same analysis is done for the case of imperfect measurements in Section 4. For the state estimations used in the feedback scheme we propose a brief discussion on the quantum filters and prove a rather general robustness property for perfect measurements in Section 3 with Theorem 3.2 and for imperfect ones in Section 4 with Theorem 4.2. Section 5 is devoted to the experimental implementation that has been done at Laboratoire Kastler-Brossel of Ecole Normale Supérieure de Paris. Closed-loop simulations and experimental data complementary to those reported in are presented.
System model and open-loop dynamics
The random evolution of the state at time-step is modeled through the following dynamics:
We now state some assumptions that we will be using in the remainder of this paper.
For all in there exists such that
All are functions of .
2 Convergence of the open-loop dynamics
When the control input vanishes (), the dynamics are simply given by
Consider a Markov process obeying the dynamics of (3) with an initial condition in . Then with probability one, converges to one of the states with and the probability of convergence towards the state is given by
This Theorem is already proved in and also in in a slightly different formulation. A direct proof is based on the following Lyapunov function:
Since is a martingale for any and since
Feedback stabilization with perfect measurements
In Subsection 3.1, we give an overview of the control method and then in Subsections 3.2 and 3.3, we prove the main results. Finally in Subsection 3.4, we prove a robustness principle that explains how we can ensure convergence even if the initial state is unknown.
Theorem 2.1 shows that the open-loop dynamics are stable in the sense that in each realization converges (non-deterministically) to one of the pure states with probability . The control goal is to make this convergence deterministic toward a chosen playing the role of controller set point. We build on the ideas in to design a controller that is based on a strict Lyapunov function for the target state. In this paper we assume arbitrary controlled Kraus operators that cannot be decomposed into QND measurement operators followed by a unique controlled unitary operator with as assumed in where . It can be argued that the control we are proposing is non-Hamiltonian control , as the control parameter is not necessarily a parameter in the interaction Hamiltonian and could indeed be any parameter of an auxiliary system such as the measurement device.
Here is some small positive number that needs to be determined. Because and the control is chosen to minimize at each step, we directly have that is a closed-loop supermartingale, i.e.,
What remains to be done is to choose an appropriate open-loop supermartingale so that the set is restricted to the target state . The Lyapunov function defined in (4) does not discriminate between the different basis vectors. We therefore use the Lyapunov function where and is a small positive constant. The weights are strictly positive numbers except for . This function is clearly a concave function of the open-loop martingales and therefore is an open-loop supermartingale. Moreover, the weights can be used to quantify the distance of the state from the target state (c.f. Figure 2 below which shows how are chosen for the experimental setting).
A state is in the set if and only if for all , we have
Also from the fact that is an open-loop supermartingale, we have for all
This idea can easily be extended to the situations where the delay is non zero. Take as state at step : denote by this state where stands for the control input delayed steps. Then the state form of the delayed dynamics (2) is governed by the following Markov chain
Finally, we address the situation where the initial state of the system is not fully known but only estimated by . We show under some assumptions on the initial condition that, the feedback law based on the state of the miss-initialized filter still ensures the convergence of as well as the well-initialized conditional state towards . This demonstrates how the control algorithm is robust to uncertainties in the initialization of the estimated state of the quantum system.
The construction of the control Lyapunov function relies on two lemmas.
Consider the matrix defined by
For , . Thus is a Metzler matrix A Metzler matrix is a matrix such that all the off-diagonal components are non-negative.. Let us prove that the sum of each row vanishes. This results from identity . Deriving twice versus the relation
To the Metzler matrix defined in Lemma 3.1, we associate its directed graph denoted by This graph admits vertices labeled by . To each strictly positive off-diagonal element of the matrix , say, on the ’th row and the ’th column we associate an edge from vertex towards vertex
Assume the directed graph of the matrix defined in Lemma 3.1 is strongly connected, i.e., for any , , there exists a chain of distinct elements of such that , and for any , . Take . Then, there exist strictly positive real numbers , , such that
3 The global stabilizing feedback
The main result of this section is expressed through the following theorem.
where is defined in (5). Thus, is a supermartingale. According to Theorem A.1, the -limit set of is included in
4 Quantum filter and robustness property of filter
When the measurement process is fully efficient (i.e., the detectors are ideal with detection efficiency equal to one and they observe all the quantum jumps) and the jump model (2) admits no error, the Markov process (8) represents a natural choice for estimating the hidden state Indeed, the estimate of satisfies the following recursive dynamics
where the measurement outcome is driven by (2). In practice, the control defined in Theorem 3.1 could only depend on this estimation replacing in . If , then and Theorem 3.1 ensures convergence towards the target state. Otherwise, the following result guaranties the convergence of such observer/controller scheme when .
Consider the recursive Equation (2) and assume that the assumptions of Theorem 3.1 are satisfied. For each measurement outcome given by (2), consider the estimation given by (11) with an initial condition . Set where is given in Theorem 3.1. Then there exists such that, for all and , and converge almost surely towards the target state as soon as .
Imperfect Measurements
We now consider the feedback control problem in the presence of classical measurement imperfections with the possibility of detection errors. This model is a direct generalization of the ones used in (see also e.g., for an introduction to quantum filtering). The imperfections in the measurement process are described by a classical probabilistic model relying on a left stochastic matrix , and : and for any , . The integer corresponds to the number of imperfect outcomes and is the probability of having the imperfect outcome knowing the perfect one . Set
Since follows (2), is also governed by a recursive equation :
We now consider the dynamics of the filter state in the presence of delays in the feedback control. Similar to the case with perfect measurements, let be the filter state at step , where is the feedback control at time-step delayed steps. Then the delay dynamics are determined by the following Markov chain
For all in there exists such that
We now state the analogue of Theorem 3.1 in the case of imperfect measurements.
where corresponds to the imperfect outcome detected at step . Such is correlated to the perfect and hidden outcome of (2) through the classical stochastic process attached to : for each , is a random variable to be equal to with probability . In practice, the control defined in Theorem 4.1 could only depend on this estimation replacing in . The following result guaranties the convergence of the feedback scheme when .
Consider the recursive Equation (2) and take assumptions of Theorem 4.1. Consider the estimation given by (15) with an initial condition . Set where is given by Theorem 4.1. Then there exists such that, for all and , and converge almost surely towards the target state as soon as .
The photon box
In this section, we give the explicit expression of the feedback controller which has been experimentally tested in Laboratoire Kastler-Brossel (LKB) at Ecole Normal Supérieure (ENS) de Paris. We briefly summarize how the control design elucidated in this paper is applied to the LKB experiment. We refer the interested reader to for more details. This feedback controller has been obtained by the Lyapunov design discussed in previous sections.
2 The controlled Markov process and quantum filter
After taking into account our full knowledge about the experiment, we finally get the following state estimate at step :
The decoherence manifests itself through spontaneous loss or capture of a photon to or from the environment which is described as follows:
where , and with a and photon annihilation and creation operators ( and ) and with the photon number operator (). Besides, is the mean number of photons in the cavity mode at thermal equilibrium with its environment.
The evolution of the state after the control injection is modeled through
with In reality, the control at step , is subject to a delay of steps which corresponds to the number of flying atoms between the cavity and the detector .
In the real experiment, the atom source is probabilistic and is characterized by a truncated Poisson probability distribution to have atom(s) in a sample (we neglect events with more than 2 atoms). This expands the set of the possible detection outcomes to values , related to the following measurement operators, , , , and where and are physical parameters.
The real measurement process is not perfect: the detection efficiency is limited to and the state detection errors are non-zero (. These imperfections are taken into account by considering the left stochastic matrix which is given in . Consequently, the optimal state estimate after measurement outcome gets the following form:
The measurement operators are diagonal in the Fock basis , illustrating their quantum non-demolition nature with respect to the photon number operator and thus fulfilling Assumption 1. Besides, Assumption 4 can also be fulfilled by a proper choice of the experimental parameters and .
3 Feedback controller
4 Simulations and experimental results
Conclusion
We have proposed a Lyapunov design for state-feedback stabilization of a discrete-time finite-dimensional quantum system with QND measurements. Extensions of this design are possible in different directions such as
replacing the continuous and one-dimensional input by a multi-dimensional one ;
assuming that belongs to a finite set of discrete values;
taking an infinite dimensional state space as in where the truncation to finite photon numbers is removed;
considering continuous-time systems similar to the ones investigated in ;
ensuring convergence towards a sub-space instead of a pure-state and thus achieving a goal similar to error correction code as already proposed in .
Acknowledgements: the authors thank Michel Brune, Serge Haroche and Jean-Michel Raimond for enlightening discussions and advices.
References
Appendix A Appendix
The following theorem is just an application of Theorem in [18, Ch. 8].
Let be a Markov chain on the compact state space Suppose, there exists a continuous function satisfying
where is a non-negative continuous function of then the -limit set (in the sense of almost sure convergence) of is contained by the following set
Consider the function defined by (5) and . Then there exists such that for all satisfying , there exists such that .
we have by continuity for tending to and for all and : . Thus there exists such that (see the proof of Theorem 2.1). Since , for large enough, and thus
Taking , by Assumption 2, there exists such that . Replacing (22) in (21) yields: Thus, there exists , such that for and large enough But . This is in contradiction with as soon as .