| |
| |
| Preface | |
| |
| |
| |
| Dynamical Systems and Modeling | |
| |
| |
| |
| What Is a System? | |
| |
| |
| |
| Open-Loop Versus Closed-Loop | |
| |
| |
| |
| Axiomatic Definition of a Dynamical System | |
| |
| |
| |
| Mathematical Modeling | |
| |
| |
| |
| Review of Work and Energy Concepts | |
| |
| |
| |
| The Lagrange Equations of Motion | |
| |
| |
| |
| Modeling Examples | |
| |
| |
| |
| Analysis of Modeling Equations | |
| |
| |
| |
| State-Plane Analysis | |
| |
| |
| |
| Numerical Techniques | |
| |
| |
| |
| Principles of Linearization | |
| |
| |
| |
| Linearizing Differential Equations | |
| |
| |
| |
| Describing Function Method | |
| |
| |
| |
| Linear Systems | |
| |
| |
| |
| Reachability and Controllability | |
| |
| |
| |
| Observability and Constructability | |
| |
| |
| |
| Companion Forms | |
| |
| |
| |
| Linear State-Feedback Control | |
| |
| |
| |
| State Estimators | |
| |
| |
| |
| Combined Controller-Estimator Compensator | |
| |
| |
| |
| Stability | |
| |
| |
| |
| Informal Introduction to Stability | |
| |
| |
| |
| Basic Definitions of Stability | |
| |
| |
| |
| Stability of Linear Systems | |
| |
| |
| |
| Evaluating Quadratic Indices | |
| |
| |
| |
| Discrete-Time Lyapunov Equation | |
| |
| |
| |
| Constructing Robust Linear Controllers | |
| |
| |
| |
| Hurwitz and Routh Stability Criteria | |
| |
| |
| |
| Stability of Nonlinear Systems | |
| |
| |
| |
| Lyapunov's Indirect Method | |
| |
| |
| |
| Discontinuous Robust Controllers | |
| |
| |
| |
| Uniform Ultimate Boundedness | |
| |
| |
| |
| Lyapunov-Like Analysis | |
| |
| |
| |
| LaSalle's Invariance Principle | |
| |
| |
| |
| Optimal Control | |
| |
| |
| |
| Performance Indices | |
| |
| |
| |
| A Glimpse at the Calculus of Variations | |
| |
| |
| |
| Linear Quadratic Regulator | |
| |
| |
| |
| Dynamic Programming | |
| |
| |
| |
| Pontryagin's Minimum Principle | |
| |
| |
| |
| Sliding Modes | |
| |
| |
| |
| Simple Variable Structure Systems | |
| |
| |
| |
| Sliding Mode Definition | |
| |
| |
| |
| A Simple Sliding Mode Controller | |
| |
| |
| |
| Sliding in Multi-Input Systems | |
| |
| |
| |
| Sliding Mode and System Zeros | |
| |
| |
| |
| Nonideal Sliding Mode | |
| |
| |
| |
| Sliding Surface Design | |
| |
| |
| |
| State Estimation of Uncertain Systems | |
| |
| |
| |
| Sliding Modes in Solving Optimization Problems | |
| |
| |
| |
| Vector Field Methods | |
| |
| |
| |
| A Nonlinear Plant Model | |
| |
| |
| |
| Controller Form | |
| |
| |
| |
| Linearizing State-Feedback Control | |
| |
| |
| |
| Observer Form | |
| |
| |
| |
| Asymptotic State Estimator | |
| |
| |
| |
| Combined Controller-Estimator Compensator | |
| |
| |
| |
| Fuzzy Systems | |
| |
| |
| |
| Motivation and Basic Definitions | |
| |
| |
| |
| Fuzzy Arithmetic and Fuzzy Relations | |
| |
| |
| |
| Standard Additive Model | |
| |
| |
| |
| Fuzzy Logic Control | |
| |
| |
| |
| Stabilization Using Fuzzy Models | |
| |
| |
| |
| Stability of Discrete Fuzzy Models | |
| |
| |
| |
| Fuzzy Estimator | |
| |
| |
| |
| Adaptive Fuzzy Control | |
| |
| |
| |
| Neural Networks | |
| |
| |
| |
| Threshold logic Unit | |
| |
| |
| |
| Identification Using Adaptive Linear Element | |
| |
| |
| |
| Backpropagation | |
| |
| |
| |
| Neural Fuzzy Identifier | |
| |
| |
| |
| Radial-Basis Function (RBF) Networks | |
| |
| |
| |
| A Self-Organizing Network | |
| |
| |
| |
| Hopfield Neural Network | |
| |
| |
| |
| Hopfield Network Stability Analysis | |
| |
| |
| |
| Brain-State-in-a-Box (BSB) Models | |
| |
| |
| |
| Genetic and Evolutionary Algorithms | |
| |
| |
| |
| Genetics as an Inspiration for an Optimization Approach | |
| |
| |
| |
| Implementing a Canonical Genetic Algorithm | |
| |
| |
| |
| Analysis of the Canonical Genetic Algorithm | |
| |
| |
| |
| Simple Evolutionary Algorithm (EA) | |
| |
| |
| |
| Evolutionary Fuzzy Logic Controllers | |
| |
| |
| |
| Chaotic Systems and Fractals | |
| |
| |
| |
| Chaotic Systems Are Dynamical Systems with Wild Behavior | |
| |
| |
| |
| Chaotic Behavior of the Logistic Equation | |
| |
| |
| |
| Fractals | |
| |
| |
| |
| Lyapunov Exponents | |
| |
| |
| |
| Discretization Chaos | |
| |
| |
| |
| Controlling Chaotic Systems | |
| |
| |
| App.: Math Review | |
| |
| |
| Bibliography | |
| |
| |
| Index | |