Nonlinear Control Systems Design 1995 (eBook)

A.J. Krener, D.Q. Mayne (Herausgeber)

eBook Download: PDF

2016 | 1. Auflage
434 Seiten
Elsevier Science (Verlag)
978-1-4832-9687-6 (ISBN)

Infos

The series of IFAC Symposia on Nonlinear Control Systems provides the ideal forum for leading researchers and practitioners who work in the field to discuss and evaluate the latest research and developments. This publication contains the papers presented at the 3rd IFAC Symposium in the series which was held in Tahoe City, California, USA.

Inhalt

Front Cover 1
Nonlinear Control Systems Design 1995 2
Copyright Page 3
Table of Contents 6
Dediction 3
PART I: NONLINEAR CONTROL OF CHEMICAL PROCESSES 16
CHAPTER 1. ON-LINE UPDATING OF RADIAL BASIS FUNCTION NETWORK MODELS 16
1. INTRODUCTION 16
2. RBFN ADAPTATION 17
3. SIMULATION RESULTS 19
4. CONCLUSIONS 20
REFERENCES 21
CHAPTER 2. Nonlinear Control of Distributed Parameter Processes with Disturbances 22
Abstract. 22
1 Introduction 22
2 Quasi-linear first-order PDEs 22
3 Characteristic index 24
4 Control of hyperbolic PDE systems with disturbances 25
Acknowledgement 27
References 27
CHAPTER 3. CONTROL OF NONLINEAR SYSTEMS SUBJECT TOINPUT CONSTRAINTS 28
Abstract. 28
1. Introduction 28
2. Description of the System 29
3. General nonlinear MPC formulation 29
4. Description of the Controllers 29
5. Examples 31
6. REFERENCES 33
CHAPTER 4. Stability of model predictive control under perturbations 34
1. Introduction 34
2. Outline of the paper 34
3. Stability results 35
4. Nonlinear model predictive control 37
5. Nonlinear state estimation 38
6. Conclusions 39
7. REFERENCES 39
CHAPTER 5. DYNAMIC STATE FEEDBACK IN A CONTINUOUS STIRREDTANK REACTOR 40
1. INTRODUCTION 40
2. CONTROL OF A CSTR MODEL 41
3. SIMULATIONS 43
4. CONCLUSIONS 44
5. REFERENCES 44
PART II: STABILITY 46
CHAPTER 6. A NEW CRITERION FOR ASYMPTOTIC STABILITY OFNONAUTONOMOUS DIFFERENTIAL EQUATIONS:AN ILLUSTRATIVE EXAMPLE 46
1. INTRODUCTION 46
2. AN ASYMPTOTIC STABILITYCRITERION 47
3. HARMONIC OSCILLATOR WITHTIME-DEPENDENT DAMPING 48
4. CONCLUSIONS 49
5. REFERENCES 50
CHAPTER 7. TOWARD A GEOMETRIC APPROACH FOR THE STABILITYANALYSIS OF MULTIVARIABLE SYSTEMS AFFECTED BYPHASE PERTURBATIONS 52
1. INTRODUCTION 52
2. ANALYSIS 53
3. EXAMPLES 54
4. DISCUSSION 56
REFERENCES 56
CHAPTER 8. A STABILITY RADIUS FOR NONLINEAR DIFFERENTIAL EQUATIONS SUBJECT TO TIME VARYING PERTURBATIONS 58
ABSTRACT 58
1. Introduction 58
2. Stability and Instability for Perturbed Differential Equations. 59
3. A Stability Radius for Nonlinear Differential Equations 60
References 60
CHAPTER 9. RESONANCE AND FEEDBACK STABILIZATION 62
Abstract 62
1. INTRODUCTION 62
2. RESONANCE 63
3. CONCLUSIONS 66
REFERENCES 66
CHAPTER 10. NONLINEAR CONTROL DESIGN IN THE FREQUENCY DOMAIN 68
Abstract 68
1. INTRODUCTION 68
2. NONLINEAR SYSTEMS IN THE FREQUENCY DOMAIN 69
3. INVERSION OF THE LAPLACE TRANSFORM 69
4. APPLICATION TO CONTROL THEORY 72
5. Conclusions 73
6. REFERENCES 73
CHAPTER 11. FEEDBACK STABILIZATION OF BIFURCATION PHENOMENA AND ITSAPPLICATION TO THE CONTROL OF VOLTAGE INSTABILITIES AND COLLAPSE 74
ABSTRACT 74
1.Introduction 74
2. A Model of Voltage Collapse 74
3. Normal Forms Analysis of the Power Plant Model 75
4.Resonance Control of Voltage Instabilities 76
5. Discussion and Conclusion 77
References 78
PART III: IDENTIFICATION AND CONTROL PROBLEMS INCOMPUTER VISION 80
CHAPTER 12. Multistage Nonlinear Observer with Application to Vision Based Estimation 80
1. INTRODUCTION 80
2. MULTISTAGE NONLINEAR OBSERVER 80
3. HIGH-GAIN OBSERVERS FOR NONLINEAR 
82 
4. MOTION AND RANGE ESTIMATION FOR APOINT MASS FALLING FREELY UNDER GRAVITY 83
5. CONCLUSION 84
6. REFERENCES 84
CHAPTER 13. A MODEL FOR BINOCULAR VISION 86
1 Introduction 86
2 A Model for the Motion ofa Single Eye 86
3 The Tracking Problem for Monocular Vision 87
4 Binocular Eye Motion and Tracking 87
5 Monocular and Binocular Observability 88
6 Conclusion 89
References 89
CHAPTER 14. A Realization Theory for Perspective Systems 90
1. Introduction and Motivation 90
2. The Perspective Realization Problem 90
3. State Space Realization 91
4. A Sketch of the Proof 92
5. A Rescaling Algorithm 94
6. Conclusion 95
7. REFERENCES 95
CHAPTER 15. STRUCTURE FROM VISUAL MOTION AS A NONLINEAR OBSERVATION PROBLEM 96
1. INTRODUCTION 96
2. UNFEASIBILITY OF THE THE OBSERVER LINEARIZATION 97
3. ALTERNATIVE OBSERVERS 98
4. LOCAL LINEARIZATION-BASEDSTRUCTURE FROM MOTION 99
5. MOTION-INDEPENDENT STRUCTURE ESTIMATION 99
6. EXPERIMENTS 99
7. CONCLUSIONS 100
8. REFERENCES 100
PART IV: DECOUPLING 102
CHAPTER 16. A new result on almost disturbance decoupling for nonlinear minimum phase systems 102
1 Introduction 102
2 Main result 102
References 104
CHAPTER 17. COMPLETE INVARIANTS OF NONLINEAR CONTROL SYSTEMS 106
1. INTRODUCTION 106
2. CASCADE STRUCTURE 107
3. FINER STRUCTURE 108
4. CONCLUSION 111
REFERENCES 111
PART V: ADAPTIVE NONLINEAR CONTROL 112
CHAPTER 18. BLOCK BACKSTEPPING FOR ADAPTIVE NONLINEARCONTROL* 112
1. INTRODUCTION 112
2. BLOCK BACKSTEPPING 113
3. ADAPTIVE BLOCK BACKSTEPPING 114
4. BLOCK-STRICT-FEEDBACK SYSTEMS 116
REFERENCES 116
CHAPTER 19. LYAPUNOV AND ISS FRAMEWORKS FORADAPTIVE NONLINEAR STABILIZATION 118
1. INTRODUCTION 118
2. LYAPUNOV FRAMEWORK 118
3. ISS FRAMEWORK 120
4. CONCLUSIONS 123
REFERENCES 123
CHAPTER 20. ADAPTIVE TRACKING WITHDISTURBANCE ATTENUATION FOR ACLASS OF NONLINEAR SYSTEMS 124
Abstract. 124
INTRODUCTION 124
MAIN RESULT 125
References 129
CHAPTER 21. ROBUSTNESS OF KRSTIC'S NEW ADAPTIVE CONTROL SCHEME 130
Abstract. 130
1 INTRODUCTION 130
2 TWO WORK EXAMPLES 131
3 SIMULATION RESULTS AND DISCUSSIONS 132
4 CONCLUSIONS 135
REFERENCES 135
PART VI: OPTIMAL CONTROL 136
CHAPTER 22. AGAIN ON TANGENT CONES AND HIGH ORDER MAXIMUMPRINCIPLES 136
Abstract 136
1. INTRODUCTION 136
2. NOTATIONS AND DEFINITIONS 136
3. VARIATIONAL CONE 137
4. REFERENCES 140
CHAPTER 23. FLOW DIFFERENTIABILITY WITH CONTROLS IN Lp 142
Abstract. 142
1. INTRODUCTION 142
2. MAIN RESULTS 143
3. Bounded controls 144
4. REFERENCES 144
CHAPTER 24. THE RICCATI EQUATION FOR REGULAR LQ-CONTROLPROBLEMS WITH CONSTRAINTS 146
Abstract 146
1. INTRODUCTION 146
2. STATEMENT OF THE PROBLEM ANDMAIN RESULTS 147
3. REFERENCES 150
PART VII: HOMOGENEOUS SYSTEMS 152
CHAPTER 25. FEEDBACK STABILIZATION OF HOMOGENEOUS POLYNOMIAL SYSTEMS 152
Abstract 152
1. INTRODUCTION 152
2. NOTATIONS AND PRELIMINARIES 153
3. STABILIZATION OF ODD HOMOGENEOUS VECTOR FIELDS 153
4. STABILIZATION OF EVEN HOMOGENEOUS VECTOR FIELDS 154
5. REFERENCES 155
CHAPTER 26. Zubov Theorem and Domain of Attraction for Controlled Dynamic Systems 158
Abstract. 158
1. Introduction 158
2. Domain of attraction 158
3. Homogeneous systems 161
4. REFERENCES 161
CHAPTER 27. GEOMETRIC HOMOGENEITY AND STABILIZATION MATTHIAS KAWSKI 162
Abstract 162
1. WHY HOMOGENEITY 162
2. TRADITIONAL DILATIONS 163
3. GEOMETRIC HOMOGENEITY 163
4. APPLICATIONS TO STABILITY AND STABILIZATION 166
5. REFERENCES 167
CHAPTER 28. Adding an integrator to a non stabilizable homogeneous planarsystem 168
Abstract. 168
1. INTRODUCTION 168
2. PRELIMINARIES 169
3. "NON-ATTRACTIVE MODE" AND HOMOGENEOUS STABILIZATION 170
4. "NON-ATTRACTIVE CENTER" AND HOMOGENEOUS SATBILIZATION 171
5. CONCLUSIONS 173
6. REFERENCES 173
CHAPTER 29. Stabilizing time-varying feedback 174
Abstract 174
1 Introduction 174
2 Time-varying feedback 175
3 Time-varying output feedback 179
References 180
PART VIII: CHEMICAL PROCESSES 182
CHAPTER 30. FEEDBACK LINEARIZING CONTROLLER DESIGN FORCHEMICAL PROCESSES: CHALLENGES AND RECENT ADVANCES 182
Abstract. 182
1. INTRODUCTION 182
2. NONLINEAR CHEMICAL PROCESSES 182
3. INPUT-OUTPUT LINEARIZATION 184
4. CONCLUSIONS 187
5. ACKNOWLEDGEMENTS 187
6. REFERENCES 187
CHAPTER 31. NONLINEAR PROCESS CONTROL BY A COMBINATION OF EXACT LINEARIZATION AND GAIN SCHEDULING TRAJECTORY CONTROL 188
Abstract. 188
1. INTRODUCTION 188
2. BASIC CONCEPTS 189
3. GAIN SCHEDULING TRAJECTORY CONTROL 190
4. EXAMPLE 191
5. CONCLUSIONS 192
6. REFERENCES 193
CHAPTER 32. Feedback Stabilization of Non Linear End Milling Process 194
Abstract 194
1. Introduction 194
2.CNC Milling System Modelling 194
3.Preliminaries and Definitions 194
4.Derivation of Output Feedback Stabilization Control Law(Relative Degree p -1 195
5. Lyapunov Stability Analysis 196
6.Application Example to Milling Process 196
7. Simulation 196
8.Control Lav Derivation ViaLyapunov Stability Criteria 197
9. Simulation 198
10. Conclusi ons 198
References 199
CHAPTER 33. Positiveness and Asymptotic Stability of a Double Effect Evaporator 200
Abstract 200
1 Introduction* 200
2 The double effect evaporator 200
3 Quasimonotone positive nonlinear systems 202
4 Sign-stability of equilibria 202
5 Application to the double effect evaporator 203
6 Conclusions 205
References 205
Appendix A 205
CHAPTER 34. Nonlinear Dynamic Control of a Non-Minimum-Phase CSTR 206
Abstract. 206
1. INTRODUCTION 206
2. NOTATION AND PRELIMINARIES 206
3. BRIEF DESCRIPTION OF PROCESS ANDCONTROL PROBLEM 207
4. ALGEBRAIC ANALYSIS 207
5. STATIC FEEDBACK DESIGN 208
6. CONTROLLER DESIGN VIA APPROXIMATE INPUT-OUTPUT DECOUPLING 209
7. CONCLUSION 211
8. REFERENCES 211
PART IX: EXTERNAL STABILITY OF NONLINEAR CONTROL SYSTEMS 212
CHAPTER 35. EXTERNAL STABILITY OF NONLINEAR SYSTEMS 212
Abstract. 212
1. INTRODUCTION 212
2. DEFINITIONS AND PRELIMINARIES 212
3. LINEAR SYSTEMS 213
4. A NONLINEAR FINITE GAIN PROPERTY 214
5. INTERCONNECTED SYSTEMS 215
6. GENERAL SYSTEMS 215
7. AFFINE SYSTEMS 216
8. REFERENCES 217
CHAPTER 36. On Characterizations of Input-to-State Stability with Respect to Compact Sets 218
1. Introduction 218
2. Set Input to State Stability 218
3. ISS-Control Lyapunov Functions 221
4. Appendix 223
5. REFERENCES 223
CHAPTER 37. EXAMPLES OF STABILIZATION USING SATURATION: AN INPUT-OUTPUT APPROACH 224
Abstract. 224
1. NOTATION 224
2. INTRODUCTION 224
3. BALL AND BEAM WITH FRICTION 224
4. A GENERAL FORMALISM 225
5. PVTOL 226
6. INVERTED PENDULUM ON A CART 228
7. REFERENCES 229
CHAPTER 38. OUTPUT FEEDBACK GLOBAL STABILIZATION FOR TRIANGULAR SYSTEMS 230
Abstract 230
1. INTRODUCTION 230
2. DYNAMIC STABILIZATION 231
3. THE GENERAL CASE-USE OFARTSTEIN'S THEOREM 233
4. APPENDIX 234
5. REFERENCES 235
PART X: H-INFINITY CONTROL 236
CHAPTER 39. NONLINEAR L2-GAIN SUBOPTIMAL CONTROL 236
Abstract 236
1. INTRODUCTION 236
2. PRELIMINARIES 236
3. MAIN RESULTS 238
4. CONCLUSION 241
5. ACKNOWLEDGEMENT 241
6. REFERENCES 241
CHAPTER 40. ADAPTIVE Hoc CONTROL USING COPRIME FACTORS AND SET-MEMBERSHIP IDENTIFICATION : THE NONLINEAR CASE 242
Abstract 242
I. INTRODUCTION 242
II. AN INCREMENTAL APPROACH FOR NONLINEARCONTROL 243
III. ROBUSTNESS ANALYSIS 244
IV. SET MEMBERSHIP IDENTIFICATION 246
V. STABILITY AND ROBUSTNESS OF THE ADAPTIVESCHEME 246
VI. APPLICATION 245
REFERENCES 247
CHAPTER 41. Nonlinear H8 Method for Volterra Systems 248
Abstract. 248
1. Introduction 248
2. Volterra System and the Laplace Transform 248
3. Hoo Norm of Nonlinear Systems 250
4. Hoo Norm of Bilinear Systems 251
5. Conclusions 251
6. REFERENCES 251
CHAPTER 42. GLOBAL NONLINEAR H8-CONTROL VIA OUTPUTFEEDBACK 254
Abstract 254
1 INTRODUCTION 254
2 PRELIMINARIES 254
3 H8-CONTROL PROBLEMS 255
4 STATE-FEEDBACK H8-CONTROL 256
5 OUTPUT-FEEDBACK H8-CONTROL 257
Acknowledgements 259
References 259
CHAPTER 43. ON ROBUST STABILIZATION AND H8 CONTROL FORLINEAR AND BILINEAR SYSTEMS WITH NONLINEARUNCERTAINTY 260
1. INTRODUCTION 260
2. LINEAR SYSTEMS WITH NONLINEAR UNCERTAINTY 260
3. BILINEAR SYSTEMS WITH NONLINEAR UNCERTAINTY 263
4. REFERENCES 265
CHAPTER 44. H°° CONTROL FOR SYSTEMS WITH SECTOR BOUND NONLINEARITIES 266
Abstract. 266
1. INTRODUCTION 266
2. PRELIMINARIES 267
3. MAIN RESULTS 267
4. CONCLUSIONS 270
5. REFERENCES 270
PART XI: FEEDBACK LINEARIZATION 272
CHAPTER 45. Definition and Computation of a Nonlinearity Measure 272
Abstract. 272
1. Introduction 272
2. Definition of a nonlinearity measure 272
3. Computation of the nonlinearity measure 273
4. Example 275
5. Conclusions 277
6. REFERENCES 277
CHAPTER 46. Approximate Feedback Linearization:Higher Order Approximate Integrating Factors* 278
Abstract 278
Introduction 278
1. Notation and Auxiliary Results 279
2. 5-Metric 280
3. Higher Order Approximate Integrating Factors 281
4. Higher Order Approximate Integrating Factors for Systems Close to Being Linearizable 281
5. Application of Higher Order Approximate Integrating Factors to Approximate Feedback Linearization 282
6. REFERENCES 283
CHAPTER 47. Feedback Linearization of Transverse Dynamicsfor Periodic Orbits in R3with Points of Transverse Controllability Loss 284
Abstract. 284
Introduction 284
1. Results 285
2. Example 288
3. REFERENCES 289
Conclusion 289
CHAPTER 48. LINEARIZING THE BALL AND BEAM SYSTEM WITH A PD CONTROL LAW 290
Abstract. 290
1. INTRODUCTION 290
2. COORDINATE CHANGES 290
3. IDEAL CONTROL LAW 292
4. PRACTICAL CONTROL LAW 292
5. STABILITY 293
6. CONCLUSION 294
7. References 294
CHAPTER 49. A Procedure towards Linearizing Dynamic Feedback 296
Abstract. 296
1. Introduction 296
2. Notations 297
3. Generalized Controller Form 297
4. Transformation Procedure 298
5. Example 300
6. REFERENCES 301
CHAPTER 50. THE RELATIVE DEGREE ENHANCEMENT PROBLEM FOR MIMO NONLINEAR SYSTEMS 302
Abstract. 302
1. PROBLEM STATEMENT 302
2. DESIGN STEPS 303
3. EXAMPLES 304
4. CONCLUDING REMARKS 305
5. ACKNOWLEDGEMENTS 306
6. REFERENCES 306
PART XI: ADAPTIVE NONLINEAR CONTROL 308
CHAPTER 51. DECENTRALIZED ADAPTIVE CONTROL OF MISMATCHEDLARGE SCALE INTERCONNECTED NONLINEAR SYSTEMS 308
Abstract. 308
1. INTRODUCTION 308
2. THE CLASS OF LARGE-SCALENONLINEAR SYSTEMS 308
3. DECENTRALIZED ADAPTIVE DESIGN 309
4. CONCLUSION 313
5. REFERENCES 313
CHAPTER 52. ON ADAPTIVE FEEDBACK STABILISATION FOR NONLINEAR SYSTEMS MODELED BY DISCRETE TIME EQUIVALENTS 314
Abstract 314
1 INTRODUCTION 314
2 ADAPTIVE FEEDBACK STABILIZATION 314
3 A PARAMETER UPDATE SCHEME 315
4 APPLICATION TO SOME SPECIFIC EXAMPLES 317
5 SIMULATIONS 317
REFERENCES 318
CHAPTER 53. roENTIFICATION AND ADAPTIVE NONLINEAR CONTROLOF DRIVES WITH FRICTION 320
1. INTRODUCTION 320
2. MODELLING AND IDENTIFICATION OF DRIVES 320
3. MODEL BASED NONLINEAR CONTROL SCHEMES 322
4. APPLICATION 323
5. CONCLUSION 325
REFERENCES 325
PART XII: OPTIMAL CONTROL II 326
CHAPTER 54. COMPACT FORMS OF THE GENERALIZED LEGENDRECLEBSCHCONDITIONS AND THE DERIVATION OF SINGULAR CONTROL TRAJECTORIES 326
Abstract. 326
1. INTRODUCTION 326
2. OPTIMAL CONTROL PROBLEM 327
3. LEGENDRE-CLEBSCH CONDITIONS 327
4. CONCLUSIONS 329
5. REFERENCES 329
CHAPTER 55. DIDO'S PROBLEM WITH A FIXED CENTER OF MASS 332
Abstract 332
1. INTRODUCTION 332
2. PROBLEM STATEMENT 333
3. EXTREMALS 333
4. ACKNOWLEDGEMENT 335
5. REFERENCES 335
CHAPTER 56. On the Structure of Optimal Oscillatory Trajectories for Two-Input Driftless Smooth Systems in Dimension Three 338
Abstract. 338
1. Introduction 338
2. The value function 339
3. Basic properties of optimal trajectories 340
4. Optimal oscillatory trajectories 341
5. REFERENCES 343
PART XIII: DIFFERENTIAL ALGEBRAIC SYSTEMS 344
CHAPTER 57. ON SYSTEM STRUCTURE THEORY AND NONLINEARINTERACTOR 344
Abstract 344
1. PRELIMINARIES 345
2. THE NEW DEFINITION OF SYSTEM INTERACTOR 346
3. EXAMPLES 348
4. REFERENCES 348
CHAPTER 58. Calculation of Zero Dynamics for Affine MIMO-Systems using the Ritt Algorithm 350
Abstract. 350
1. INTRODUCTION 350
2. THE ZERO DYNAMICS OF ANONLINEAR SYSTEM 350
3. BASIC ALGEBRAIC CONCEPTS 351
4. USING THE RITT ALGORITHM TOCALCULATE THE ZERO DYNAMICS 352
5. EXAMPLES 354
6. CONCLUSIONS 355
7. REFERENCES 355
CHAPTER 59. ON DIFFERENTIAL ALGEBRAIC SYSTEMS 356
Abstract 356
1. INTRODUCTION 356
2. GENERAL MATHEMATICAL MODELS 356
3. SOLUTIONS of ADE's 358
4. DIFFERENTIAL ALGEBRA 359
5. PA- AND GPA-SOLUTIONS 359
6. DIFFERENTIAL ALGEBRAIC SYSTEMS 360
7. CONCLUSIONS 363
8. REFERENCES 363
PART XIV: PLENARY PAPER II 364
CHAPTER 60. Nonlinear Control of Mechanical Systems:A Lagrangian Perspective 364
1. INTRODUCTION 364
2. LAGRANGIAN CONTROL SYSTEMS 366
3. CONTROLLABILITY 369
4. TRAJECTORY GENERATION 372
5. DISCUSSION AND OPEN PROBLEMS 374
6. REFERENCES 375
PART XV: CONTROL OF MOBILE ROBOTS 376
CHAPTER 61. Regulation of the Acrobot 376
1. Introduction 376
2. Stabilizing the Acrobot 377
3. Generalization 380
4. REFERENCES 381
CHAPTER 62. MODELING AND CONTROL DESIGN FOR A MOBILE ROBOT 382
Abstract. 382
1. Introduction 382
2. Kinematic Analysis and Approximation 382
3. Dynamic Model - Formulation of Lagrangian 383
4. A Simple Gait Algorithm 385
5. Simulation Results 385
6. Conclusion 385
7. REFERENCES 386
CHAPTER 63. AN APPLICATION OF NONLINEAR ROBUST CONTROL 388
Abstract 388
1. INTRODUCTION 388
2. FUEL-INJECTION MODEL 388
3. SLIDING MODE CONTROL 389
4. DYNAMIC SLIDING MODE CONTROL 389
5. TRANSIENT FUEL CORRECTION 389
6. EXPERIMENTAL RESULTS 390
7. CONCLUSIONS 392
REFERENCES 392
CHAPTER 64. ON THE QUADRATIC MODELING OF NONLINEAR PLANTSWITH APPLICATION TO AN ELECTRO-HYDRAULIC DRIVE 394
Abstract 394
1. INTRODUCTION 394
2. QUADRATIC MODELING METHODS 395
3. DERIVATION OF THE IDENTIFICATIONALGORITHM 396
4. APPLICATION TO ANELECTRO-HYDRAULIC DRIVE 398
5. CONCLUSION 398
6. REFERENCES 399
CHAPTER 65. STOCHASTIC AND REGULAR MOTIONSIN SYSTEM WITH 'YAWN' 400
Abstract 400
1. Introduction and Problem Statement 400
2. Simplified Model of System with 'Yawn1. 401
3. Conclusion 404
References 404
PART XVI: NONLINEAR STABILIZATION 406
CHAPTER 66. Static Stabilizing Feedback Controls for a Class of Singularly Perturbed Nonlinear Uncertain Systems 406
Abstract 406
1. INTRODUCTION 406
2. Full-order singularly perturbed uncertainsystem 406
3. The reduced-order uncertain system 407
4. Design objectives 407
5. Class of static state feedback controls 408
6. Boundary-layer system 408
7. The feedback controlled reduced-order system 408
8. Lyapunov analysis for the full-order system 409
9. REFERENCES 410
CHAPTER 67. STABILITY ANALYSIS OF NONLINEAR MODEL MATCHINGFOR A CLASS OF PERTURBED DISCRETE-TIME SYSTEMS 412
Abstract. 412
1. INTRODUCTION 412
2. AN ASSOCIATED DISTURBANCEDECOUPLING PROBLEM 413
3. THE NONLINEAR MODEL MATCHINGPROBLEM 413
4. NONLINEAR MODEL MATCHING UNDERPERTURBATIONS 415
5. CONCLUSIONS 417
6. REFERENCES 417
CHAPTER 68. Feedback Stabilization of General Nonlinear Control Systems *Wei Lin 418
Abstract. 418
1. Introduction 418
2. Notations and Main Results 419
3. Examples 420
4. The Proofs of Main Theorems 421
5. Conclusions 423
6. REFERENCES 423
PART XVII: H-INFINITY RISK-SENSITIVE FILTERING AND CONTROL 424
CHAPTER 69. NONLINEAR FILTERING: The SET-MEMBERSHIP(BOUNDING) and the H8 TECHNIQUES 424
Abstract 424
INTRODUCTION 424
1. THE NONLINEAR FILTERING PROBLEM 424
2. THE SET-MEMBERSHIP (BOUNDING) AND THE H8 APPROACHES 425
3. THE INFORMATION DOMAIN AND THE INFORMATION STATE 425
4. HAMILTON-JACOBI TECHNIQUES (INTEGRAL QUADRATIC INDEX 426
5. HAMILTON-JACOBI TECHNIQUES (INSTANTANEOUS QUADRATIC BOUNDS 427
6. ESTIMATES AND ERROR BOUNDS 428
7. Conclusions 429
8. Bibliography 429
CHAPTER 70. A CLASS OF ADAPTIVE NONLINEAR H8-FILTERS WITHGUARANTEED L2-STABILITY 432
Abstract. 432
INTRODUCTION 432
PROBLEM STATEMENT 433
AN APPROXIMATE LINEAR MODEL 433
CONVERGENCE AND L2– STABILITY OFTHE APPROXIMATE FILTER 434
AN EXAMPLE: THE CASE OF SYSTEMS WITH SHIFT STRUCTUR 435
INSTANTANEOUS-GRADIENT-BASEDIIR ADAPTIVE FILTERS 436
1. REFERENCES 437
CHAPTER 71. RISK SENSITIVE GENERALIZATION OF MINIMUM VARIANCE ESTIMATION AND CONTROL 438
Abstract 438
1. INTRODUCTION 438
2. RISK-SENSITIVE ESTIMATION 439
3. RISK-SENSITIVE GENERALIZATION OF MINIMUM VARIANCE CONTROL 442
4. CONCLUSION 443
5. REFERENCES 443
CHAPTER 72. FINITE DIMENSIONAL RISK SENSITIVE INFORMATIONSTATES 444
Abstract. 444
1. INTRODUCTION 444
2. DYNAMICS AND A MODIFIED ZAKAI EQUATION 444
3. BENES' FILTER 446
4. FINITE DIMENSIONAL INFORMATION STATES 447
5. REFERENCES 449

Produkt-Details

• Erscheint lt. Verlag: 22.1.2016
• Sprache: englisch
• Themenwelt: Technik ► Bauwesen
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• ISBN-10: 1-4832-9687-3 / 1483296873
• ISBN-13: 978-1-4832-9687-6 / 9781483296876