Nonlinear Control Systems

Első borító
Springer Science & Business Media, 1995. aug. 11. - 549 oldal
6 Ismertetők
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The purpose of this book is to present a self-contained description of the fun damentals of the theory of nonlinear control systems, with special emphasis on the differential geometric approach. The book is intended as a graduate text as weil as a reference to scientists and engineers involved in the analysis and design of feedback systems. The first version of this book was written in 1983, while I was teach ing at the Department of Systems Science and Mathematics at Washington University in St. Louis. This new edition integrates my subsequent teaching experience gained at the University of Illinois in Urbana-Champaign in 1987, at the Carl-Cranz Gesellschaft in Oberpfaffenhofen in 1987, at the University of California in Berkeley in 1988. In addition to a major rearrangement of the last two Chapters of the first version, this new edition incorporates two additional Chapters at a more elementary level and an exposition of some relevant research findings which have occurred since 1985.
 

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Tartalomjegyzék

1 Local Decompositions of Control Systems
1
12 Notations
5
13 Distributions
13
14 Frobenius Theorem
22
15 The Differential Geometric Point of View
33
16 Invariant Distributions
41
17 Local Decompositions of Control Systems
49
18 Local Reachability
53
56 Exact Linearization of the InputOutput Response
277
Tools
293
62 Controlled Invariant Distributions
312
63 The Maximal Controlled Invariant Distribution in kerdh
317
64 Controllability Distributions
333
Applications
339
72 Disturbance Decoupling
342
73 Noninteracting Control with Stability via Static State Feedback
344

19 Local Observability
69
2 Global Decompositions of Control Systems
77
22 The Control Lie Algebra
83
23 The Observation Space
87
24 Linear Systems and Bilinear Systems
91
25 Examples
99
3 InputOutput Maps and Realization Theory
105
32 Volterra Series Expansions
112
33 Output Invariance
116
34 Realization Theory
121
35 Uniqueness of Minimal Realizations
132
4 Elementary Theory of Nonlinear Feedback for SingleInput SingleOutput Systems
137
42 Exact Linearization Via Feedback
147
43 The Zero Dynamics
162
44 Local Asymptotic Stabilization
172
45 Asymptotic Output Tracking
178
46 Disturbance Decoupling
184
47 High Gain Feedback
189
48 Additional Results on Exact Linearization
194
49 Observers with Linear Error Dynamics
203
410 Examples
211
5 Elementary Theory of Nonlinear Feedback for MultiInput MultiOutput Systems
219
52 Exact Linearization via Feedback
227
53 Noninteracting Control
241
54 Achieving Relative Degree via Dynamic Extension
249
55 Examples
263
74 Necessary Conditions for Noninteracting Control with Stability
364
75 Sufficient Conditions for Noninteracting Control with Stability
373
8 Tracking and Regulation
387
82 The Problem of Output Regulation
391
83 Output Regulation in the Case of Full Information
396
84 Output Regulation in the Case of Error Feedback
403
85 Structurally Stable Regulation
416
9 Global Feedback Design for SingleInput SingleOutput Systems
427
92 Examples of Global Asymptotic Stabilization
432
93 Examples of Semiglobal Stabilization
439
94 ArtsteinSontags Theorem
448
95 Examples of Global Disturbance Attenuation
450
96 Semiglobal Stabilization by Output Feedback
460
A Appendix A
471
A2 Some Elementary Notions of Topology
473
A3 Smooth Manifolds
474
A4 Submanifolds
479
A 5 Tangent Vectors
483
A6 Vector Fields
493
B Appendix B
503
B2 Some Useful Properties
511
B3 Local Geometric Theory of Singular Perturbations
517
Bibliographical Notes
529
References
532
Index
541
Copyright

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A szerzőről (1995)

Alberto Isidori was born in Rapallo, Italy. He graduated in electrical engineering from the University of Rome in 1965. In 1969 he obtained a degree equivalent to a doctorate in automatic control from the University of Rome.

Since 1975, he has been Professor of Automatic Control at the University of Rome "La Sapienza". Since 1989, he has also held a position of rofessor (on a half-time basis) at the Department of Systems Science and Mathematics, Washington University, St. Louis, Missouri. He has held visiting positions at several academic institutions, including the University of Illinois (Urbana, Il.), the University of California (Berkeley, Ca.) and the ETH (Zurich, Switzerland).

His research interests are primarily focused on mathematical control theory and control engineering.

 

 

In 1979, Alberto Isidori initiated a research program aimed at the extension of so-called "geometric theory" of multivariable linear systems, pioneered in the early 1970s by various authors,to linear systems. Linear algebra and linear geometric methods were replaced in nonlinear systems by the methods of differential geometry, whose usefulness in the study of controllability, observability, and minimality of nonlinear systems had been demonstrated in the early 70s. The main intuition of Isidori was to use differential geometric methods in the synthesis of feedback laws for nonlinear systems, more or less in the same way as linear geometric methods were used in the synthesis of feedback laws for linear systems. The result of this seminal work was the development of systematic methods addressing outstanding design problems like feedback linearization, noninteracting control, disturbance decoupling, and model matching.

From 1985 to 1990 Isidori's research concentrated on the development of the "nonlinear analogue" of the notion of the "zero" of a transfer function. Taking as a point of departure the "geometric" interpretation of this notion, the concept of nonlinear zero dynamics was introduced, studied, and applied. As a result, it was shown that most of the features of the notion of zeros of the transfer function of a linear system are actually manifestations of more general principles. Remarkable examples of application of this theory consisted in the study and the solution of the nonlinear equivalent of the so-called "servomechanism problem" of linear system theory and in the characterization of the conditions for feedback equivalence to a nonlinear passive system.

Since the 90s, Isidori has focused his research interests on problems of disturbance attenuation and robust stabilization of nonlinear systems.

 

Professional Activities 

-President of the European Union Control Association (1995-1997).
-Member of the IFAC Council (1993-1996).

-President-elect of IFAC (three-year term to begin following IFAC World Congress in Seoul 2008)
-On the Editorial Board of: European Journal of Control (since 1995), Automatica (since 1990), IEEE Transactions on Automatic Control (since 1990), International Journal of Control (since 1990), International Journal of Robust and Nonlinear Control (since 1991), Journal of Mathematical Systems, Estimation and Control (since 1991), Mathematics of Control, Signals and Systems (1987-89), Applied Stochastic Models and Data Analysis (since 1985), Systems and Control Letters (1981-88).

 

Awards and Honors

-Georgio Quazza Medal of IFAC, for ?pionering and fundamental contributions to the theory of nonlinear control,? 1996.
-Fellow of the Institute of Electrical and Electronic Engineers, for ?fundamental contributions to nonlinear control theory?, 1987.
-Outstanding Paper Award for papers published on IEEE Transactions on Automatic Control, in 1981 and in 1990.
-Outstanding Paper Award a paper published on Automatica in1991.

 

Selected Publications

Nonlinear Control Systems (3rd edition), Springer Verlag (1995), pp. 1-549.

Topics in Control Theory, with W. Knobloch and D. Flockerzi, Berkhauser (1993), pp. 1-166.

Output Regulation of Uncertain Nonlinear Systems, with C.I. Byrnes and F. Delli Priscoli, Birkhauser (1997), pp. 1-122.

Trends in Control Theory (editor), Springer Verlag (1995), pp. 1-422.

Systems, Models and Feedback (co-editor, with T.J. Tarn), Birkhauser (1992), pp. 1-402.

Bibliográfiai információk