Lectures in Feedback Design for Multivariable Systems (Advanced Textbooks in Control and Signal Processing)

This book focuses on methods that relate, in one form or another, to the ?small-gain theorem?. It is aimed at readers who are interested in learning methods for the design of feedback laws for linear and nonlinear multivariable systems in the presence of model uncertainties. With worked examples throughout, it includes both introductory material and more advanced topics. Divided into two parts, the first covers relevant aspects of linear-systems theory, the second, nonlinear theory. In order to deepen readers{u2019} understanding, simpler single-input{u2013}single-output systems generally precede treatment of more complex multi-input{u2013}multi-output (MIMO) systems and linear systems precede nonlinear systems. This approach is used throughout, including in the final chapters, which explain the latest advanced ideas governing the stabilization, regulation, and tracking of nonlinear MIMO systems. Two major design problems are considered, both in the presence of model uncertainties: asymptotic stabilization with a ?guaranteed region of attraction? of a given equilibrium point and asymptotic rejection of the effect of exogenous (disturbance) inputs on selected regulated outputs. Much of the introductory instructional material in this book has been developed for teaching students, while the final coverage of nonlinear MIMO systems offers readers a first coordinated treatment of completely novel results. The worked examples presented provide the instructor with ready-to-use material to help students to understand the mathematical theory. Readers should be familiar with the fundamentals of linear-systems and control theory. This book is a valuable resource for students following postgraduate programs in systems and control, as well as engineers working on the control of robotic, mechatronic and power systems

A typical plant control system will be subject to the undesirable influence of exogenous commands and disturbances. In order to track and reject these Professor Isidori and his co-authors have designed a feedback control system based on embedding a model of these disturbances within the controller itself - the so-called internal model.

Beginning with a review of the fundamental principles of internal-model-based feedback control design, Robust Autonomous Guidance moves on to expound recent enhancements to such designs and then to their implementation in systems operating under conditions of great uncertainty.

The three case studies presented: attitude control of a low-Earth-orbit satellite and the landing of fixed- and rotary-winged aircraft on a ship involve control systems coping with a high degree of nonlinear behaviour. The key issues addressed in each case study are the design of an adaptive internal model for the specific tracking task and of stabilizing control capable of steering the tracking error to zero while keeping all internal states bounded for any arbitrarily large but bounded envelope of initial data and uncertain parameters. Nested saturated controls form the basis of novel tools for asymptotic analysis and design.

Robust Autonomous Guidance will be of great interest to academic and industrial researchers working with nonlinear control systems and to engineers involved in the design of aerospatial guidance systems. It will also be a useful reference for graduate students working with non-linear systems.

Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

A typical plant control system will be subject to the undesirable influence of exogenous commands and disturbances. In order to track and reject these Professor Isidori and his co-authors have designed a feedback control system based on embedding a model of these disturbances within the controller itself - the so-called "internal model". Beginning with a review of the fundamental principles of internal-model-based feedback control design, Robust Autonomous Guidance moves on to expound recent enhancements to such designs and then to their implementation in systems operating under conditions of great uncertainty. The three case studies presented: attitude control of a low-Earth-orbit satellite and the landing of fixed- and rotary-winged aircraft on a ship involve control systems coping with a high degree of nonlinear behaviour. The key issues addressed in each case study are the design of an adaptive internal model for the specific tracking task and of stabilizing control capable of steering the tracking error to zero while keeping all internal states bounded for any arbitrarily large but bounded envelope of initial data and uncertain parameters. Nested saturated controls form the basis of novel tools for asymptotic analysis and design. Robust Autonomous Guidance will be of great interest to academic and industrial researchers working with nonlinear control systems and to engineers involved in the design of aerospatial guidance systems. It will also be a useful reference for graduate students working with non-linear systems. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control

nonlinear Control Systems Ii Is A Continuation Of The Same Author’s Classic Work Nonlinear Control Systems (978-3-540-19916-8). Including Further Advances In This Increasingly Important Field Of Control Theory, The Second Volume Presents A Self-contained And Co-ordinated Description Of Several Design Methods. In Particular, The Text Takes Advantage Of The Recent Vigorous Growth In Such Methods And Concepts As Input-to-state Stability, The Small-gain Criterion And Passivity Via Feedback To Increase The Reader’s Ability To Design Effective Feedback Laws For Nonlinear Systems With Model Uncertainties. Among The Most Important Features Of This Text Are:

• Stability Analysis Of Interconnected Nonlinear Systems, Including The Notions Of Input-to-state Stability And Its Role In Analysing Cascade-connected Or Feedback-connected Systems And Of Dissipativity And Its Consequences;

• Robust Stabilization In Cases With Parametric Uncertainties – The Use Of Global, Semi-global And Practical Semi-global Stabilization And The Design Of State Feedback And Output Feedback Laws;

• Robust Stabilization In Cases With Unstructured Perturbations Including Disturbance Attenuation And Almost Disturbance Decoupling;

• Global Stabilization Using Bounded Controls;

• Normal Forms For Multi-input, Multi-output Nonlinear Systems From The Global Point Of View And Their Role In Feedback Design.

the Primary Purpose Of This Book Is As A Reference For Scientists, Mathematicians And Engineers Working In The Design Of Nonlinear Control Systems But It Will Also Be Of Use As A Text For Graduate Students Studying Control Theory And Nonlinear Dynamical Systems.

this Established And Authoritative Text Focuses On The Design And Analysis Of Nonlinear Control Systems. The Author Considers The Latest Research Results And Techniques In This Updated And Extended Edition.

topics Covered Include:

• Local And Global Decompositions Of Control Systems;

• Input-ouput Maps And Realization Theory;

• Nonlinear Feedback For Single-input/single-output Systems And Multi-input/multi-output Systems;

• Applications Of State Feedback;

• Output Regulation And

• Global Stabilization And Disturbance Attenuation.

examples Are Given From Mechanical, Electrical And Aerospace Engineering. The Approach Consists Of A Rigorous Mathematical Formulation Of Control Problems And Respective Methods Of Solution. The Two Appendices Outline The Most Important Concepts Of Differential Geometry And Present Some Specific Data Not Often Found In Other Standard Works. This Makes Nonlinear Control Systems Suitable As A Graduate And Undergraduate Text And As A Source Of Reference.

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the First Edition Was Published In 1985 As V.72 In The Series Lecture Notes In Control And Information Sciences. A Self-contained Description Of The Fundamentals, With Special Emphasis On The Differential Geometric Approach. Annotation C. Book News, Inc., Portland, Or (booknews.com)

"This book incorporates recent advances in the design of feedback laws to the purpose of globally stabilizing nonlinear systems via state or output feedback. It is a continuation of the first volume by Alberto Isidori on Nonlinear Control Systems. Specifically this second volume will cover: Stability analysis of interconnected nonlinear systems; the notion of input-to-state stability and its role in analysing stability of cascade-connected or feedback-connected systems; the notion of dissipativity and its consequences (passivity and "gain"); robust stabilization in the case of parametric uncertainties; the case of state feedback (global or semi-global stabilization); the case of output feedback (semi-global stabilization); robust stabilization in the case of unstructured perturbations; feedback design via the small-gain approach; robust semi-global stabilization via output feedback; methods for asymptotic tracking, disturbance rejection and model following; global and semi-global analysis; normal forms for multi-input multi-output nonlinear systems form a global point of view; and their role in feedback design."--Jacket Plant control systems are subject to the undesirable influence of exogenous commands and disturbances. To track and reject these the authors have designed a feedback control system based on embedding a model of them within the controller itself - the'internal model'. From a review of the principles of internal-model-based feedback control design, this book moves on to expound recent enhancements to such designs and then to their implementation in systems operating under conditions of great uncertainty. The case studies presented involve control systems coping with a high degree of nonlinear behaviour. The key issues addressed in each are the design of an adaptive internal model for the specific tracking task and of stabilizing control capable of steering the tracking error to zero while keeping all internal states bounded for any arbitrarily large but bounded envelope of initial data and uncertain parameters. Nested saturated controls form the basis of novel tools for asymptotic analysis and design. The purpose of this book is to present a self-contained description of the fun­ damentals of the theory of nonlinear control systems, with special emphasis on the differential geometric approach. The book is intended as a graduate text as weil as a reference to scientists and engineers involved in the analysis and design of feedback systems. The first version of this book was written in 1983, while I was teach­ ing at the Department of Systems Science and Mathematics at Washington University in St. Louis. This new edition integrates my subsequent teaching experience gained at the University of Illinois in Urbana-Champaign in 1987, at the Carl-Cranz Gesellschaft in Oberpfaffenhofen in 1987, at the University of California in Berkeley in 1988. In addition to a major rearrangement of the last two Chapters of the first version, this new edition incorporates two additional Chapters at a more elementary level and an exposition of some relevant research findings which have occurred since 1985. This established and authoritative text focuses on the design and analysis of nonlinear control systems. The author considers the latest research results and techniques in this updated and extended edition. Topics covered include:? local and global decompositions of control systems;? input-ouput maps and realization theory;? nonlinear feedback for single-input/single-output systems and multi-input/multi-output systems;? applications of state feedback;? output regulation and? global stabilization and disturbance attenuation. Examples are given from mechanical, electrical and aerospace engineering. The approach consists of a rigorous mathematical formulation of control problems and respective methods of solution. The two appendices outline the most important concepts of differential geometry and present some specific data not often found in other standard works. This makes Nonlinear Control Systems suitable as a graduate and undergraduate text and as a source of reference The purpose of this book is to present a self-contained and coordinated de­ scription of several design methods for nonlinear control systems, with special emphasis on the problem of achieving stability, globally or on arbitrarily large domains, in the presence of model uncertainties. The book is intended to be a continuation of my earlier book Nonlinear Control Systems, dealing with the fundamentals of the theory of nonlinear control systems, whose third edition was published in 1995. In this respect, it is written in the form of a'second volume'of a single work, and uses a numbering system that continues the one adopted in the earlier book, with which the overlap is essentially insignificant. The book is intended as a graduate text as well as a reference to scientists and engineers interested in the design of feedback laws for nonlinear control systems. In the last decade, methods for global stabilization of nonlinear systems have experienced a vigorous growth. Front Matter....Pages i-xi An Overview....Pages 1-18 Front Matter....Pages 19-19 Stabilization of Minimum-Phase Linear Systems....Pages 21-42 The Small-Gain Theorem for Linear Systems and Its Applications to Robust Stability....Pages 43-81 Regulation and Tracking in Linear Systems....Pages 83-133 Coordination and Consensus of Linear Systems....Pages 135-163 Front Matter....Pages 165-165 Stabilization of Nonlinear Systems via State Feedback....Pages 167-199 Nonlinear Observers and Separation Principle....Pages 201-231 The Small-Gain Theorem for Nonlinear Systems and Its Applications to Robust Stability....Pages 233-249 The Structure of Multivariable Nonlinear Systems....Pages 251-291 Stabilization of Multivariable Nonlinear Systems: Part I....Pages 293-317 Stabilization of Multivariable Nonlinear Systems: Part II....Pages 319-340 Regulation and Tracking in Nonlinear Systems....Pages 341-364 Back Matter....Pages 365-413 The subject of this Chapter is the analysis of a nonlinear control system, from the point of view of the interaction between input and state and - respectively - between state and output, with the aim of establishing a number of interesting analogies with some fundamental features of linear control systems. "Robust Autonomous Guidance will be of great interest to academic and industrial researchers working with nonlinear control systems and to engineers involved in the design of aerospatial guidance systems. It will also be a useful reference for graduate students working with nonlinear systems."--Jacket This eagerly awaited follow-up to Nonlinear Control Systems incorporates recent advances in the design of feedback laws, for the purpose of globally stabilizing nonlinear systems via state or output feedback. The author is one of the most prominent researchers in the field. For convenience of the reader, this section provides a quick review of the notion of comparison functions and their role in the well-known criterion of Lyapunov for determining stability and asymptotic stability. The problem of controlling the output of a system so as to achieve asymptotic tracking of prescribed trajectories and/or asymptotic rejection of disturbances is a central problem in control theory.