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