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| Preface | |
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| Feedback Control | |
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| The Mechanism of Feedback | |
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| Feedback Control Engineering | |
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| Control Theory Background | |
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| Scope and Organization of This Book | |
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| Notes | |
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| References | |
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| State-Space Representation of Dynamic Systems | |
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| Mathematical Models | |
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| Physical Notion of System State | |
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| Block-Diagram Representations | |
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| Lagrange's Equations | |
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| Rigid Body Dynamics | |
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| Aerodynamics | |
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| Chemical and Energy Processes | |
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| Problems | |
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| Notes | |
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| References | |
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| Dynamics of Linear Systems | |
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| Differential Equations Revisited | |
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| Solution of Linear Differential Equations in State-Space Form | |
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| Interpretation and Properties of the State-Transition Matrix | |
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| Solution by the Laplace Transform: The Resolvent | |
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| Input-Output Relations: Transfer Functions | |
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| Transformation of State Variables | |
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| State-Space Representation of Transfer Functions: Canonical Forms | |
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| Problems | |
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| Notes | |
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| References | |
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| Frequency-Domain Analysis | |
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| Status of Frequency-Domain Methods | |
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| Frequency-Domain Characterization of Dynamic Behavior | |
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| Block-Diagram Algebra | |
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| Stability | |
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| Routh-Hurwitz Stability Algorithms | |
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| Graphical Methods | |
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| Steady State Responses: System Type | |
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| Dynamic Response: Bandwidth | |
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| Robustness and Stability (Gain and Phase) Margins | |
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| Multivariable Systems: Nyquist Diagram and Singular Values | |
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| Problems | |
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| Notes | |
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| References | |
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| Controllability and Observability | |
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| Introduction | |
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| Where Do Uncontrollable or Unobservable Systems Arise? | |
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| Definitions and Conditions for Controllability and Observability | |
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| Algebraic Conditions for Controllability and Observability | |
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| Disturbances and Tracking Systems: Exogenous Variables | |
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| Problems | |
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| Notes | |
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| References | |
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| Shaping the Dynamic Response | |
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| Introduction | |
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| Design of Regulators for Single-Input, Single-Output Systems | |
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| Multiple-Input Systems | |
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| Disturbances and Tracking Systems: Exogenous Variables | |
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| Where Should the Closed-Loop Poles Be Placed? | |
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| Problems | |
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| Notes | |
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| References | |
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| Linear Observers | |
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| The Need for Observers | |
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| Structure and Properties of Observers | |
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| Pole-Placement for Single-Output Systems | |
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| Disturbances and Tracking Systems: Exogenous Variables | |
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| Reduced-Order Observers | |
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| Problems | |
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| Notes | |
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| References | |
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| Compensator Design by the Separation Principle | |
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| The Separation Principle | |
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| Compensators Designed Using Full-Order Observers | |
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| Reduced-Order Observers | |
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| Robustness: Effects of Modeling Errors | |
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| Disturbances and Tracking Systems: Exogenous Variables | |
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| Selecting Observer Dynamics: Robust Observers | |
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| Summary of Design Process | |
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| Problems | |
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| Notes | |
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| References | |
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| Linear, Quadratic Optimum Control | |
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| Why Optimum Control? | |
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| Formulation of the Optimum Control Problem | |
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| Quadratic Integrals and Matrix Differential Equations | |
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| The Optimum Gain Matrix | |
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| The Steady State Solution | |
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| Disturbances and Reference Inputs: Exogenous Variables | |
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| General Performance Integral | |
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| Weighting of Performance at Terminal Time | |
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| Problems | |
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| Notes | |
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| References | |
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| Random Processes | |
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| Introduction | |
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| Conceptual Models for Random Processes | |
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| Statistical Characteristics of Random Processes | |
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| Power Spectral Density Function | |
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| White Noise and Linear System Response | |
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| Spectral Factorization | |
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| Systems with State-Space Representation | |
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| The Wiener Process and Other Integrals of Stationary Processes | |
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| Problems | |
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| Notes | |
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| References | |
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| Kalman Filters: Optimum Observers | |
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| Background | |
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| The Kalman Filter is an Observer | |
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| Kalman Filter Gain and Variance Equations | |
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| Steady State Kalman Filter | |
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| The "Innovations" Process | |
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| Reduced-Order Filters and Correlated Noise | |
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| Stochastic Control: The Separation Theorem | |
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| Choosing Noise for Robust Control | |
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| Problems | |
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| Notes | |
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| References | |
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| Matrix Algebra and Analysis | |
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| Bibliography | |
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| Index of Applications | |
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| Index | |