| Preface |
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xi | |
| Notation |
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xiii | |
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1 | (24) |
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2 | (3) |
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5 | (1) |
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Discrete and Continuous Time Models and Controllers |
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6 | (2) |
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Some Basic Concepts in Control |
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8 | (7) |
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15 | (3) |
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Stability and the Small Gain Theorem |
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18 | (4) |
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22 | (3) |
| PART I LINEAR SYSTEMS |
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25 | (120) |
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Representation of Linear Systems |
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27 | (16) |
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Impulse Response and Weighting Function |
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27 | (1) |
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Transfer Function Matrices |
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28 | (2) |
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30 | (1) |
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30 | (1) |
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31 | (6) |
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37 | (4) |
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41 | (2) |
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Properties of Linear Systems |
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43 | (40) |
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Solving the System Equations |
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43 | (1) |
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Controllability and Observability |
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44 | (4) |
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48 | (5) |
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53 | (5) |
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Frequency Response and Frequency Functions |
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58 | (5) |
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63 | (5) |
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68 | (9) |
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77 | (6) |
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79 | (4) |
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83 | (18) |
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Approximating Continuous Time Systems |
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83 | (2) |
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85 | (5) |
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90 | (3) |
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Controllability and Observability |
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93 | (3) |
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96 | (3) |
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99 | (2) |
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101 | (44) |
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101 | (2) |
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103 | (3) |
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Spectral Description of Disturbances |
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106 | (6) |
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Description of Disturbances in the Time Domain |
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112 | (2) |
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Estimation of One Signal from Another |
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114 | (2) |
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Measurement and System Disturbances |
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116 | (8) |
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Observers and Kalman Filters |
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124 | (7) |
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131 | (8) |
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Practical Aspects of Signal Sampling |
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139 | (1) |
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140 | (5) |
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141 | (4) |
| PART II LINEAR CONTROL THEORY |
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145 | (160) |
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147 | (24) |
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The Transfer Functions of the Closed Loop System |
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147 | (3) |
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Stability of the Closed System |
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150 | (2) |
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Sensitivity and Robustness |
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152 | (3) |
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155 | (1) |
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Specifications in the Time Domain |
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156 | (3) |
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Specifications in the Frequency Domain |
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159 | (5) |
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164 | (5) |
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169 | (2) |
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Basic Limitations in Control Design |
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171 | (44) |
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171 | (1) |
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172 | (4) |
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176 | (3) |
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S and T: Individual Limitations |
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179 | (7) |
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Consequences for the System Performance |
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186 | (6) |
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Effects of Control Signal Bounds |
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192 | (3) |
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195 | (6) |
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201 | (7) |
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208 | (7) |
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209 | (6) |
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Controller Structures and Control Design |
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215 | (24) |
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216 | (3) |
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Configuration of Multivariable Controllers |
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219 | (9) |
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228 | (5) |
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Feedback from Reconstructed States |
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233 | (4) |
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237 | (2) |
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Minimization of Quadratic Criteria: LQG |
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239 | (38) |
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The Criterion and the Main Ideas |
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239 | (3) |
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The Optimal Controller: Main Results |
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242 | (5) |
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247 | (10) |
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Robustness for LQG Controllers |
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257 | (7) |
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264 | (7) |
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271 | (6) |
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273 | (4) |
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277 | (28) |
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277 | (1) |
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Formalization of the Requirements |
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278 | (6) |
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284 | (1) |
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285 | (8) |
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293 | (7) |
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300 | (1) |
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301 | (4) |
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To Decrease the Spread of the Singular Values |
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303 | (2) |
| PART III NONLINEAR CONTROL THEORY |
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305 | (146) |
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Describing Nonlinear Systems |
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307 | (14) |
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308 | (4) |
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Examples of Nonlinear Systems |
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312 | (2) |
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314 | (3) |
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Equilibria and Linearization |
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317 | (2) |
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319 | (2) |
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Stability of Nonlinear Systems |
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321 | (18) |
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321 | (2) |
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Stability and Lyapunov Functions |
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323 | (6) |
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329 | (6) |
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335 | (4) |
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337 | (2) |
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339 | (16) |
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Phase Planes for Linear Systems |
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339 | (7) |
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Phase Planes for Nonlinear Systems |
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346 | (6) |
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352 | (3) |
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Oscillations and Describing Functions |
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355 | (16) |
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The Describing Function Method |
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356 | (4) |
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Computing Amplitude and Frequency of Oscillations |
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360 | (4) |
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364 | (7) |
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Some Describing Functions |
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366 | (5) |
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Controller Synthesis for Nonlinear Systems |
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371 | (12) |
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Linear Design and Nonlinear Verification |
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371 | (1) |
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Nonlinear Internal Model Control |
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372 | (2) |
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374 | (3) |
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377 | (1) |
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State Feedback and Observer |
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378 | (4) |
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382 | (1) |
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383 | (10) |
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Basic Idea: Predict the Output |
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383 | (1) |
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k-step Prediction for Linear Systems |
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384 | (1) |
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The Criterion and the Controller |
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385 | (6) |
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391 | (2) |
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To Compensate Exactly for Nonlinearities |
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393 | (14) |
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Examples of Exact Linearization |
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393 | (2) |
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395 | (2) |
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Input-Output Linearization |
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397 | (4) |
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Exact State Linearization |
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401 | (4) |
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405 | (2) |
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407 | (44) |
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The Goddard Rocket Problem |
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407 | (3) |
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410 | (14) |
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Solution of the Goddard Rocket Problem |
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424 | (4) |
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428 | (8) |
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436 | (6) |
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442 | (2) |
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444 | (7) |
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Proof of the Maximum Principle |
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445 | (6) |
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451 | |
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