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Table Of Contents

2.2 Constructing Phase Portraits
2.3 Determining Time from Phase Portraits
2.4 Phase Plane Analysis of Linear Systems
2.5 Phase Plane Analysis of Nonlinear Systems
2.6 Existence of Limit Cycles
3.1 Nonlinear Systems and Equilibrium Points
3.2 Concepts of Stability
3.3 Linearization and Local Stability
3.4.1. Positive definite functions and Lyapunov functions
3.4.2 Equilibrium point theorems Lyapunov’s theorem for local stability
3.4.3 Invariant set theorem
3.5.2 Krasovskii’s method
3.5.3 The Variable Gradient Method
3.5.4 Physically motivated Lyapunov functions
3.5.5 Performance analysis
3.6 Control Design Based on Lyapunov’s Direct Method
4.1 Concepts of Stability for Non-Autonomous Systems
4.2.1 Lyapunov’sdirect method for non-autonomous systems
4.2.2 Lyapunov analysis of linear time-varying systems
4.2.3 The linearization method for non-autonomous systems
4.3 Instability Theorems
4.4 Existence of Lyapunov Functions
4.5.1 Asymptotic properties of functions and their derivatives
4.5.2 Barbalat’s lemma
4.6.1 PR and SPR transfer function
4.6.3 Positive real transfer matrices
4.7 The Passivity Formalism
4.8 Absolute Stability
4.9 Establishing Boundedness of Signal
4.10 Existence and Unicity of Solutions
6.1.1 Feedback linearization and the canonical form
6.1.2 Input-State Linearization
6.1.3 Input-Ouput Linearization
6.2 Mathematical Tools
6.3 Input-State Linearization of SISO Systems
6.4 Input-Output Linearization of SISO System
7.1.1 A Notation Simplification
7.1.2 Filippov’s Construction of the Equivalent Dynamics
7.1.3 Perfect Performance – At a Price
7.1.4 Direct Implementations of Switching Control Laws
7.2 Continuous Approximations of Switching Control Laws
7.3 The Modeling/Performance Trade-Offs
7.4 Multi-Input System
8.1.1 Why Adaptive Control ?
8.1.2 What is Adaptive Control ?
8.1.3 How to Design Adaptive Controllers ?
8.2 Adaptive Control of First-Order Systems
8.3 Adaptive Control of Linear Systems with Full States Feedback
8.4.1 Linear systems with relative degree one
8.4.2. Linear system with higher relative degree
8.5 Adaptive Control of Nonlinear System
8.6 Robustness of Adaptive Control System
8.7.1 Linear parameterization model
8.7.2 Prediction-error-based estimation model
8.7.3 The gradient estimator
8.7.4 The standard least-squares estimator
8.7.6 Bounded gain forgetting
8.7.7 Concluding remarks and implementation issues
8.8 Composite Adaptation
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Published by: paltanmay on Feb 18, 2011
Copyright:Attribution Non-commercial


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