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Algebraic Methods for Nonlinear Control Systems

E-BookPDF1 - PDF WatermarkE-Book
178 Seiten
Englisch
Springer Londonerschienen am19.01.20072nd ed. 2007
This is a self-contained introduction to algebraic control for nonlinear systems suitable for researchers and graduate students. It is the first book dealing with the linear-algebraic approach to nonlinear control systems in such a detailed and extensive fashion. It provides a complementary approach to the more traditional differential geometry and deals more easily with several important characteristics of nonlinear systems.mehr
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EUR111,50
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Produkt

KlappentextThis is a self-contained introduction to algebraic control for nonlinear systems suitable for researchers and graduate students. It is the first book dealing with the linear-algebraic approach to nonlinear control systems in such a detailed and extensive fashion. It provides a complementary approach to the more traditional differential geometry and deals more easily with several important characteristics of nonlinear systems.
Details
Weitere ISBN/GTIN9781846285950
ProduktartE-Book
EinbandartE-Book
FormatPDF
Format Hinweis1 - PDF Watermark
FormatE107
Erscheinungsjahr2007
Erscheinungsdatum19.01.2007
Auflage2nd ed. 2007
ReiheCommunications and Control Engineering
Seiten178 Seiten
SpracheEnglisch
IllustrationenXVI, 178 p.
Artikel-Nr.1423423
Rubriken
Genre9200

Inhalt/Kritik

Inhaltsverzeichnis
1;Preface to the Second Edition;7
2;Preface to the First Edition;8
3;Contents;11
4;Methodology;15
4.1;1 Preliminaries;16
4.1.1;1.1 Analytic and Meromorphic Functions;17
4.1.2;1.2 Control Systems;21
4.1.3;1.3 Linear Algebraic Setting;23
4.1.4;1.4 Frobenius Theorem;27
4.1.5;1.5 Examples;29
4.1.6;Problems;31
4.2;2 Modeling;33
4.2.1;2.1 State Elimination;33
4.2.2;2.2 Examples;37
4.2.3;2.3 Generalized Realization;38
4.2.4;2.4 Classical Realization;40
4.2.5;2.5 Input-output Equivalence and Realizations;41
4.2.6;2.6 A Necessary and Sufficient Condition for the Existence of a Realization;43
4.2.7;2.7 Minimal Realizations;45
4.2.8;2.8 Affine Realizations;46
4.2.9;2.9 The Hopping Robot;51
4.2.10;2.10 Some Models;53
4.2.11;Problems;54
4.3;3 Accessibility;56
4.3.1;3.1 Introduction;56
4.3.2;3.2 Examples;56
4.3.3;3.3 Reachability, Controllability, and Accessibility;57
4.3.4;3.4 Autonomous Elements;58
4.3.5;3.5 Accessible Systems;60
4.3.6;3.6 Controllability Canonical Form;61
4.3.7;3.7 Controllability Indices;62
4.3.8;3.8 Accessibility of the Hopping Robot Model;64
4.3.9;Problems;64
4.4;4 Observability;66
4.4.1;4.1 Introduction;66
4.4.2;4.2 Examples;66
4.4.3;4.3 Observability;67
4.4.4;4.4 The Observable Space;68
4.4.5;4.5 Observability Canonical Form;71
4.4.6;4.6 Observability Indices;72
4.4.7;4.7 Synthesis of Observers;73
4.4.8;Problems;80
4.5;5 Systems Structure and Inversion;81
4.5.1;5.1 Introductory Examples;81
4.5.2;5.2 Inverse Systems;82
4.5.3;5.3 Structural Indices;83
4.5.4;5.4 Structure Algorithm;86
4.5.5;5.5 Invertibility;93
4.5.6;5.6 Zero Dynamics;94
4.5.7;Problems;97
4.6;6 System Transformations;99
4.6.1;6.1 Generalized State-space Transformation;99
4.6.2;6.2 Regular Generalized State Feedback;100
4.6.3;6.3 Generalized Output Injection;102
4.6.4;6.4 Canonical Form;103
4.6.5;6.5 Generalizing the Notion of Output Injection;109
4.6.6;Problem;112
5;Applications to Control Problems;113
5.1;7 Input-output Linearization;114
5.1.1;7.1 Input-output Linearization Problem Statement;114
5.1.2;7.2 Single-output Case;115
5.1.3;7.3 Multioutput Case;115
5.1.4;7.4 Trajectory Tracking;118
5.1.5;Problems;122
5.2;8 Noninteracting Control;123
5.2.1;8.1 Noninteracting Control Problem Statement;123
5.2.2;8.2 Static State Feedback Solution;124
5.2.3;8.3 Dynamic State Feedback Solution;124
5.2.4;8.4 Noninteracting Control via Quasi-static State Feedback;125
5.2.5;Problem;126
5.3;9 Input-state Linearization;127
5.3.1;9.1 Input-state Linearization Problem Statement;127
5.3.2;9.2 Static State Feedback Solution;128
5.3.3;9.3 Partial Linearization;130
5.3.4;Problem;134
5.4;10 Disturbance Decoupling;135
5.4.1;10.1 Solution of the Disturbance Decoupling Problem;136
5.5;11 Model Matching;138
5.5.1;11.1 A Special Form of the Inversion Algorithm;138
5.5.2;11.2 Model Matching Problem;141
5.5.3;11.3 Left Factorization;149
5.6;12 Measured Output Feedback Control Problems;156
5.6.1;12.1 Input-output Linearization;156
5.6.2;12.2 Input-output Decoupling;171
5.6.3;Problem;172
6;References;173
7;Index;182mehr

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