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Preface | |
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Basic Theory of the Optimal Regulator | |
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Introduction | |
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Linear Optimal Control | |
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About This Book in Particular | |
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Part and Chapter Outline | |
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The Standard Regulator Problem-I | |
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A Review of the Regulator Problem | |
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The Hamilton-Jacobi Equation | |
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Solution of the Finite-Time Regulator Problem | |
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Discrete Time Systems | |
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The Standard Regulator Problem-II | |
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The Infinite-Time Regulator Problem | |
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Stability of the Time-Invariant Regulator | |
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Summary and Discussion of the Regulator Problem Results | |
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Cross-Product Terms and Second Variation Theory | |
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Regulator with a Prescribed Degree of Stability | |
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Tracking Systems | |
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The Problem of Achieving a Desired Trajectory | |
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Finite-Time Results | |
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Infinite-Time Results | |
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A Practical Design Example | |
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Properties and Application of the Optimal Regulator | |
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Properties of Regulator Systems with a Classical Control Interpretation | |
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The Regulator from an Engineering Viewpoint | |
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Return Difference Equality and Related Formulas | |
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Some Classical Control Ideas: Sensitivity, Complementary Sensitivity, and Robustness | |
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Gain Margin, Phase Margin, and Time-Delay Tolerance | |
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Insertion of Nonlinearities | |
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The Inverse Optimal Control Problem | |
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Return Difference Equality for Discrete-Time Regulators | |
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Asymptotic Properties and Quadratic Weight Selection | |
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Single Input Systems | |
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Multivariable Systems | |
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Further Issues in Q, R Selection | |
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State Estimator Design | |
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The Nature of the State Estimation Problem | |
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Deterministic Estimator Design | |
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Statistical Estimator Design (The Kalman-Bucy Filter) | |
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System Design Using State Estimators | |
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Controller Design-Basic Versions and Variations | |
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The Separation Theorem and Performance Calculation | |
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Loss of Passband Robustness with Observers | |
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Loop Recovery | |
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Robustness Improvement via Residual Feedback | |
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Frequency Shaping | |
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Blending Classical and Linear Quadratic Methods | |
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State Estimate Feedback with Frequency Shaping | |
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Proportional Plus Integral State Feedback | |
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Proportional Plus Integral State Estimate Feedback | |
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Controller Reduction | |
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Introduction: Selection of Frequency Weighting | |
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Frequency-Weighted Balanced Truncation | |
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Approaches to Controller Reduction via Fractional Representations | |
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Direct Design of Low-Order Controllers | |
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Digital Controllers | |
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Controller Implementation | |
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Sampling Time Selection | |
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Anti-Aliasing Analog Prefilter | |
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The Discrete-Time Transfer Function | |
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State-Variable Implementation of the Discrete-Time Transfer Function | |
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Appendices | |
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Brief Review of Some Results of Matrix Theory | |
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Brief Review of Some Major Results of Linear System Theory | |
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The Pontryagin Minimum Principle and Linear Optimal Control | |
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Lyapunov Stability | |
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The Riccati Equation | |
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Author Index | |
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Subject Index | |
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Solutions | |