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| A Prelude to Control Theory | |
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| An ancient control system | |
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| Examples of control problems | |
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| Open-loop control systems | |
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| Closed-loop control systems | |
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| Stable and unstable systems | |
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| A look at controller design | |
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| Exercises and projects | |
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| Mathematical Models in Control | |
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| Introductory examples: pendulum problems | |
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| Example: fixed pendulum | |
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| Example: inverted pendulum on a cart | |
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| State variables and linear systems | |
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| Controllability and observability | |
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| Stability | |
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| Damping and system response | |
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| Stability of linear systems | |
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| Stability of nonlinear systems | |
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| Robust stability | |
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| Controller design | |
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| State-variable feedback control | |
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| Second-order systems | |
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| Higher-order systems | |
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| Proportional-integral-derivative control | |
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| Example: automobile cruise control system | |
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| Example: temperature control | |
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| Example: controlling dynamics of a servomotor | |
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| Nonlinear control systems | |
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| Linearization | |
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| Exercises and projects | |
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| Fuzzy Logic for Control | |
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| Fuzziness and linguistic rules | |
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| Fuzzy sets in control | |
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| Combining fuzzy sets | |
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| Minimum, maximum, and complement | |
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| Triangular norms, conorms, and negations | |
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| Averaging operators | |
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| Sensitivity of functions | |
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| Extreme measure of sensitivity | |
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| Average sensitivity | |
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| Combining fuzzy rules | |
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| Products of fuzzy sets | |
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| Mamdani model | |
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| Larsen model | |
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| Takagi-Sugeno-Kang (TSK) model | |
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| Tsukamoto model | |
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| Truth tables for fuzzy logic | |
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| Fuzzy partitions | |
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| Fuzzy relations | |
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| Equivalence relations | |
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| Order relations | |
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| Defuzzification | |
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| Center of area method | |
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| Height-center of area method | |
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| Max criterion method | |
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| First of maxima method | |
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| Middle of maxima method | |
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| Level curves and alpha-cuts | |
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| Extension principle | |
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| Images of alpha-level sets | |
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| Universal approximation | |
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| Exercises and projects | |
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| Fuzzy Control | |
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| A fuzzy controller for an inverted pendulum | |
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| Main approaches to fuzzy control | |
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| Mamdani and Larsen methods | |
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| Model-based fuzzy control | |
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| Stability of fuzzy control systems | |
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| Fuzzy controller design | |
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| Example: automobile cruise control | |
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| Example: controlling dynamics of a servomotor | |
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| Exercises and projects | |
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| Neural Networks for Control | |
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| What is a neural network? | |
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| Implementing neural networks | |
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| Learning capability | |
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| The delta rule | |
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| The backpropagation algorithm | |
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| Example 1: training a neural network | |
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| Example 2: training a neural network | |
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| Practical issues in training | |
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| Exercises and projects | |
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| Neural Control | |
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| Why neural networks in control | |
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| Inverse dynamics | |
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| Neural networks in direct neural control | |
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| Example: temperature control | |
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| A neural network for temperature control | |
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| Simulating PI control with a neural network | |
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| Neural networks in indirect neural control | |
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| System identification | |
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| Example: system identification | |
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| Instantaneous linearization | |
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| Exercises and projects | |
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| Fuzzy-Neural and Neural-Fuzzy Control | |
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| Fuzzy concepts in neural networks | |
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| Basic principles of fuzzy-neural systems | |
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| Basic principles of neural-fuzzy systems | |
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| Adaptive network fuzzy inference systems | |
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| ANFIS learning algorithm | |
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| Generating fuzzy rules | |
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| Exercises and projects | |
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| Applications | |
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| A survey of industrial applications | |
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| Cooling scheme for laser materials | |
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| Color quality processing | |
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| Identification of trash in cotton | |
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| Integrated pest management systems | |
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| Comments | |
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| Bibliography | |
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| Index | |