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Analysis of nonlinear systems
1.1 Introduction
1.2 Describing functions
1.2.1 Theory
1.2.2 Example0: Saturation
1.2.3 Example1: Relay with hysteresis
1.2.4 Example2: Heating system
1.2.5 Example3: Quantisation error and sampling
1.3. STABILITY ANALYSIS BY LINEARISATION. 21
1.3 Stability analysis by linearisation
1.3.1 Theory for continuous time systems
1.3.2 Example4: Pendulum
1.3.3 Theory for discrete time systems
1.3.4 Example5: Chain Wheel
1.3.5 Example6: Population growth
1.3.6 Exercise with Mandelbrot set
1.4 State space descriptions/ Phase portraits
1.4.1 Theory
1.4.2 Example4: Pendulum
1.4.3 More nodes and isoclines
1.4.4 Limit cycles
1.4.5 Separators
1.4.6 Chaos
1.4.7 Nonlinear state space control
Stability of nonlinear systems, Lyapunov
2.1 Introduction
2.2 Deﬁnition of stability
2.3 Stability analysis according to the second method of Lyapunov
2.4 The positive deﬁnite function xT
2.5 Krasovskii’s method
2.6 Second method of Lyapunov for discrete time systems
Introduction to ”optimal control”
3.1 Introduction
3.2 Theory
3.3 Example inverted pendulum
3.4 Coupling control
3.4.2 A1) x(0) = 0 and x(tf) = 3 (exampla1.m)
3.4.3 A2) like A1 but tf = ∞ (exampla2.m)
3.4.4 B) F = F(x): F is independent of x
3.5 Properties of Hamiltonian; Pontryagin
3.6 Discrete time version
3.6.1 Example8: car acceleration (bike suits as well)
Introduction linear systems
The continuous, optimal control problem
5.1 Compensation in right half plane
5.2. ANALYSIS OF STABILISATION BY OUTPUT FEEDBACK. 93
5.2 Analysis of stabilisation by output feedback
5.3 State-variable feedback, pole location
5.4.1 A simple, one dimensional, numerical example
5.4.2 Angular velocity stabilisation problem
5.4.3 Remarks on the cost function
5.4.4 Stochastic regulator problem
5.4.5 Example: irrigation
The continuous, optimal observer problem
6.1 Asymptotic observers for state measurement
6.2 The Kalman-Bucy ﬁlter
6.2.1 Proof of Kalman ﬁlter
6.2.2 An example: detection of a constant amidst white noise
6.2.3 More about state disturbance and measurement noise
Complete LQG-control
7.1 Preservation of controller and observer poles
7.2 Proof of the separation principle
7.3 Reference input, ﬁnal error
7.4 Example: irrigation
Time discrete controller and observer
8.1 Introduction
8.2 Structure of linear controller and observer
8.3 Optimal, linear, quadratic controller design
8.4 Example : Car parking
8.5 Optimal, linear, quadratic observer design
8.6 The innovations representation
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05/25/2012

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