Nonlinear Control Systems: An Introduction (Lecture Notes in Control and Information Sciences)

This book introduces nonlinear control systems at a level suitable for graduate students and researchers. Chapter 1 introduces invariant distributions, a fundamental tool in the analysis of the internal structure of nonlinear systems. It is shown that a nonlinear system locally exhibits decompositions into parts similar to those introduced by Kalman for linear systems. Chapter 2 explains to what extent global decompositions may exist, corresponding to a partition of the whole state space into lower dimensional subsets. Chapter 3 describes various formats in which the input-output map of a nonlinear system may be represented, and provides a short description of the fundamentals of realization theory. Chapter 4 illustrates how a series of relevant design problems can be solved for a single-input single-output nonlinear system. It explains how a system can be transformed into a linear and controllable one, discusses the role of the nonlinear analogue of the notion of "zero", and describes the problem of asymptotic tracking, model matching and disturbance decoupling. Chapter 5 covers similar subjects for those multivariable nonlinear systems which can be rendered noninteractive by means of static state feedback, and Chapters 6 and 7 are devoted to control via dynamic feedback for a broader class of multivariable nonlinear systems. The book was first published in 1985 as Volume 72 in the series Lecture Notes in Control and Information Sciences. The new edition has been thoroughly revised and furnished with examples and exercises at the end of each chapter. - This text refers to an out of print or unavailable edition of this title.

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 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. Local decompositions of control systems....Pages 1-54 Global decompositions of control systems....Pages 55-82 Input-output maps and realization theory....Pages 83-123 Disturbance decoupling and non interacting control....Pages 124-177 Exact linearization methods....Pages 178-253