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Introduction
1.1 Control system design and mathematical control theory
1.2 An example: instability of the geostationary orbit
1.3 Linear control systems
1.4 Example: linearization around the geostationary orbit
1.5 Linear controllers
1.6 Example: stabilizing the geostationary orbit
1.7 Example: regulation of the satellite’s position
1.8 Exogenous inputs and outputs to be controlled
1.9 Example: including the moon’s gravitational ﬁeld
1.10 Robust stabilization
1.11 Notes and references
Mathematical preliminaries
2.1 Linear spaces and subspaces
2.2 Linear maps
2.3 Inner product spaces
2.4 Quotient spaces
2.5 Eigenvalues
2.6 Differential equations
2.7 Stability
2.8 Rational matrices
2.9 Laplace transformation
2.10 Exercises
2.11 Notes and references
Systems with inputs and outputs
3.1 Introduction
3.2 Controllability
3.3 Observability
3.4 Basis transformations
3.5 Controllable and observable eigenvalues
3.6 Single-variable systems
3.7 Poles, eigenvalues and stability
3.8 Liapunov functions
3.9 The stabilization problem
3.10 Stabilization by state feedback
3.11 State observers
3.12 Stabilization by dynamic measurement feedback
3.13 Well-posed interconnection
3.14 Exercises
3.15 Notes and references
Controlled invariant subspaces
4.1 Controlled invariance
4.2 Disturbance decoupling
4.3 The invariant subspace algorithm
4.4 Controllability subspaces
4.5 Pole placement under invariance constraints
4.6 Stabilizability subspaces
4.7 Disturbance decoupling with internal stability
4.8 External stabilization
4.9 Exercises
4.10 Notes and references
Conditioned invariant subspaces
5.1 Conditioned invariance
5.2 Detectability subspaces
5.3 Estimation in the presence of disturbances
5.4 Exercises
5.5 Notes and references
(C, A,B)-pairs and dynamic feedback
6.1 (C, A,B)-pairs
6.2 Disturbance decoupling bymeasurementfeedback
6.3 (C, A,B)-pairs and internal stability
6.5 Pairs of (C, A,B)-pairs
6.6 External stabilization by measurement feedback
6.7 Exercises
6.8 Notes and references
System zeros and the weakly unobservable subspace
7.1 Polynomial matrices and Smith form
7.2 System matrix, transmission polynomials, and ze- ros
7.3 The weakly unobservable subspace
7.4 Controllable weakly unobservable points
7.5 Strong observability
7.6 Transmission polynomials and zeros in state space
7.7 Exercises
7.8 Notes and references
8.2 System invertibility
8.3 The strongly reachable subspace
8.4 Thedistributionally weakly unobservablesubspace
8.5 State space conditions for system invertibility
8.6 Exercises
8.7 Notes and references
Tracking and regulation
9.1 The regulator problem
9.5 Exercises
9.6 Notes and references
10.1 The linear quadratic regulator problem
10.2 The ﬁnite-horizon problem
10.3 The inﬁnite-horizon problem, standard case
10.4 The inﬁnite horizon problem with zero endpoint
10.5 The nonstandard problems
10.6 Exercises
10.7 Notes and references
The H2 optimal control problem
11.1 Stochastic inputs to linear systems
11.2 H2 optimal control by state feedback
11.3 H2 optimal control by measurement feedback
11.4 Exercises
11.5 Notes and references
H∞ control and robustness
12.1 Robustness analysis
12.2 The H∞control problem
12.3 The small-gain theorem
12.4 Stabilization of uncertain systems
12.4.2 Multiplicative perturbations
12.4.3 Coprime factor perturbations
12.5 The mixed-sensitivity problem
12.6 The bounded real lemma
12.6.1 A ﬁnite horizon
12.6.2 Inﬁnite horizon
12.7 Exercises
12.8 Notes and references
The state feedback H∞control problem
13.1 Introduction
13.2 The ﬁnite horizon H∞control
13.3 Inﬁnite horizon H∞control problem
13.4 Solving the algebraic Riccati equation
13.5 Exercises
13.6 Notes and references
The H∞control problem with measurement feedback
14.1 Introduction
14.2 Problem formulation and main results
14.3 Inner systems and Redheffer’s lemma
14.4 Proof of theorem 14.1
14.5 Characterization of all suitable controllers
14.6 Exercises
14.7 Notes and references
15.2.3 Coprime factor perturbations
15.3 Singular problems
15.3.1 Frequency-domain loop shifting
15.3.2 Cheap control
15.4 The minimum entropy H∞control problem
15.4.1 Problem formulation and results
15.4.2 Properties of the entropy function
15.4.3 A system transformation
15.5 A design example: an inverted pendulum on a cart
15.6 Exercises
15.7 Notes and references
Distributions
A.1 Notes and references
Bibliography
Index
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Control Theory for Linear Systems

# Control Theory for Linear Systems

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