Nonlinear Control Systems Analysis and Design

Name: Nonlinear Control Systems Analysis and Design
Price: 112.28 USD
Availability: InStock
ISBN: 9780471427995

ISBN-10: 0471427993

ISBN-13: 9780471427995

Edition: 2003

Authors: Horacio Mï¿½rquez, Horacio Mï¿½rquez

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Description:

Assuming no previous background on the subject, this book provides a readable, pedagogical presentation of nonlinear control systems, taking the students from the very basics of Lyapunov theory to research topics such as nonlinear observers and dissipative systems.

Book details

List price: $144.95
Copyright year: 2003
Publisher: John Wiley & Sons, Incorporated
Publication date: 4/25/2003
Binding: Hardcover
Pages: 376
Size: 6.28" wide x 9.41" long x 0.89" tall
Weight: 1.386
Language: English

HORACIO J. MARQUEZ is currently Associate Professor and Associate Chair of Graduate Studies in the Department of Electrical and Computer Engineering at the University of Alberta, Canada. Dr. Marquez has published numerous articles in journals and conference proceedings on subjects including control theory, nonlinear systems, robust control, and gain scheduling. He received the University of Alberta McCalla Research Professorship for 2003-04.

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Introduction



Linear Time-Invariant Systems



Nonlinear Systems



Equilibrium Points



First-Order Autonomous Nonlinear Systems



Second-Order Systems: Phase-Plane Analysis



Phase-Plane Analysis of Linear Time-Invariant Systems



Phase-Plane Analysis of Nonlinear Systems



Limit Cycles



Higher-Order Systems



Chaos



Examples of Nonlinear Systems



Magnetic Suspension System



Inverted Pendulum on a Cart



The Ball-and-Beam System



Exercises



Mathematical Preliminaries



Sets



Metric Spaces



Vector Spaces



Linear Independence and Basis



Subspaces



Normed Vector Spaces



Matrices



Eigenvalues, Eigenvectors, and Diagonal Forms



Quadratic Forms



Basic Topology



Basic Topology in R[superscript n]



Sequences



Functions



Bounded Linear Operators and Matrix Norms



Differentiability



Some Useful Theorems



Lipschitz Continuity



Contraction Mapping



Solution of Differential Equations



Exercises



Lyapunov Stability I: Autonomous Systems



Definitions



Positive Definite Functions



Stability Theorems



Examples



Asymptotic Stability in the Large



Positive Definite Functions Revisited



Exponential Stability



Construction of Lyapunov Functions



The Invariance Principle



Region of Attraction



Analysis of Linear Time-Invariant Systems



Linearization of Nonlinear Systems



Instability



Exercises



Lyapunov Stability II: Nonautonomous Systems



Definitions



Positive Definite Functions



Examples



Stability Theorems



Proof of the Stability Theorems



Analysis of Linear Time-Varying Systems



The Linearization Principle



Perturbation Analysis



Converse Theorems



Discrete-Time Systems



Discretization



Stability of Discrete-Time Systems



Definitions



Discrete-Time Positive Definite Functions



Stability Theorems



Exercises



Feedback Systems



Basic Feedback Stabilization



Integrator Backstepping



Backstepping: More General Cases



Chain of Integrators



Strict Feedback Systems



Example



Exercises



Input--Output Stability



Function Spaces



Extended Spaces



Input--Output Stability



Linear Time-Invariant Systems



L[subscript p] Gains for LTI Systems



L[subscript infinity] Gain



L[subscript 2] Gain



Closed-Loop Input--Output Stability



The Small Gain Theorem



Loop Transformations



The Circle Criterion



Exercises



Input-to-State Stability



Motivation



Definitions



Input-to-State Stability (ISS) Theorems



Examples



Input-to-State Stability Revisited



Cascade-Connected Systems



Exercises



Passivity



Power and Energy: Passive Systems



Definitions



Interconnections of Passivity Systems



Passivity and Small Gain



Stability of Feedback Interconnections



Passivity of Linear Time-Invariant Systems



Strictly Positive Real Rational Functions



Exercises



Dissipativity



Dissipative Systems



Differentiable Storage Functions



Back to Input-to-State Stability



QSR Dissipativity



Examples



Mass-Spring System with Friction



Mass-Spring System without Friction



Available Storage



Algebraic Condition for Dissipativity



Special Cases



Stability of Dissipative Systems



Feedback Interconnections



Nonlinear l[subscript 2] Gain



Linear Time-Invariant Systems



Strictly Output Passive Systems



Some Remarks about Control Design



Nonlinear l[subscript 2]-Gain Control



Exercises



Feedback Linearization



Mathematical Tools



Lie Derivative



Lie Bracket



Diffeomorphism



Coordinate Transformations



Distributions



Input-State Linearization



Systems of the Form x = Ax + B[omega](x)[u - phi(x)]



Systems of the Form x = f(x) + g(x)u



Examples



Conditions for Input-State Linearization



Input-Output Linearization



The Zero Dynamics



Conditions for Input-Output Linearization



Exercises



Nonlinear Observers



Observers for Linear Time-Invariant Systems



Observability



Observer Form



Observers for Linear Time-Invariant Systems



Separation Principle



Nonlinear Observability



Nonlinear Observers



Observers with Linear Error Dynamics



Lipschitz Systems



Nonlinear Separation Principle



Proofs



Chapter 3



Chapter 4



Chapter 6



Chapter 7



Chapter 8



Chapter 9



Chapter 10


Bibliography


List of Figures


Index