Nonlinear Control SystemsSpringer Science & Business Media, 2013. ápr. 17. - 549 oldal 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. |
Tartalomjegyzék
| 1 | |
Global Decompositions of Control Systems | 77 |
InputOutput Maps and Realization Theory | 105 |
Elementary Theory of Nonlinear Feedback for SingleInput | 136 |
Elementary Theory of Nonlinear Feedback for MultiInput | 219 |
Tools 293 | 292 |
Applications | 339 |
Tracking and Regulation | 387 |
Smooth Manifolds | 474 |
Submanifolds | 479 |
Tangent Vectors | 483 |
Vector Fields | 493 |
B Appendix B | 503 |
Some Useful Properties | 511 |
Local Geometric Theory of Singular Perturbations | 517 |
Bibliographical Notes | 529 |
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algorithm Amix assumption center manifold closed loop system codistribution conclude condition construction contains Contr control system control with stability controlled invariant distribution coordinate chart coordinates transformation covector decoupling deduce defined denote diffeomorphism differential equation dimension dynamic extension dynamic feedback eigenvalues exists feedback law field ƒ formal power series implies input integral manifolds involutive involutive distribution Isidori jacobian matrix Lemma Lie bracket linear approximation linear system locally m₁ mapping maximal integral submanifold Moreover neighborhood noninteracting control nonlinear systems nonsingular nonzero normal form Note observe open set output regulation polynomial possible proof Proposition r₁ rank real numbers real-valued function regular point relative degree Remark result satisfied smooth function smooth manifold smooth vector fields solution solves spanned stabilizable subset subspace Suppose tangent space tangent vector Theorem vector fields vector relative degree zero dynamics მე მთ