Opis: Nonlinear Control: Global Edition - Hassan Khalil

For a first course on nonlinear control that can be taught in one semester This book emerges from the award-winning book, Nonlinear Systems, but has a distinctly different mission and organization. While Nonlinear Systems was intended as a reference and a text on nonlinear system analysis and its application to control, this streamlined book is intended as a text for a first course on nonlinear control. In Nonlinear Control, author Hassan K. Khalil employs a writing style that is intended to make the book accessible to a wider audience without compromising the rigor of the presentation. Teaching and Learning Experience This program will provide a better teaching and learning experience-for you and your students. It will help: *Provide an Accessible Approach to Nonlinear Control: This streamlined book is intended as a text for a first course on nonlinear control that can be taught in one semester. *Support Learning: Over 250 end-of-chapter exercises give students plenty of opportunities to put theory into action.1 Introduction 1 1.1 Nonlinear Models ... 1 1.2 Nonlinear Phenomena ... 8 1.3 Overview of the Book ... 9 1.4 Exercises ... 10 2 Two-Dimensional Systems 15 2.1 Qualitative Behavior of Linear Systems ... 17 2.2 Qualitative Behavior Near Equilibrium Points ... 21 2.3 Multiple Equilibria ... 24 2.4 Limit Cycles ... 27 2.5 Numerical Construction of Phase Portraits ... 31 2.6 Exercises ... 33 3 Stability of Equilibrium Points 37 3.1 Basic Concepts ... 37 3.2 Linearization ... 43 3.3 Lyapunov's Method ... 45 3.4 The Invariance Principle ... 54 3.5 Exponential Stability ... 58 3.6 Region of Attraction ... 61 3.7 Converse Lyapunov Theorems ... 68 3.8 Exercises ... 70 4 Time-Varying and Perturbed Systems 75 4.1 Time-varying Systems ... 75 4.2 Perturbed Systems ... 80 4.3 Boundedness and Ultimate Boundedness ... 85 4.4 Input-to-State Stability ... 94 4.5 Exercises ... 99 5 Passivity 103 5.1 Memoryless Functions ... 103 5.2 State Models ... 107 5.3 Positive Real Transfer Functions ... 112 5.4 Connection with Lyapunov Stability ... 115 5.5 Exercises ... 118 6 Input-Output Stability 121 6.1 L Stability ... 121 6.2 L Stability of State Models ... 127 6.3 L2 Gain ... 132 6.4 Exercises ... 137 7 Stability of Feedback Systems 141 7.1 Passivity Theorems ... 142 7.2 The Small-Gain Theorem ... 152 7.3 Absolute Stability ... 155 7.3.1 Circle Criterion ... 157 7.3.2 Popov Criterion ... 164 7.4 Exercises ... 168 8 Special Nonlinear Forms 171 8.1 Normal Form ... 171 8.2 Controller Form ... 179 8.3 Observer Form ... 187 8.4 Exercises ... 194 9 State Feedback Stabilization 197 9.1 Basic Concepts ... 197 9.2 Linearization ... 199 9.3 Feedback Linearization ... 201 9.4 Partial Feedback Linearization ... 207 9.5 Backstepping ... 211 9.6 Passivity-Based Control ... 217 9.7 Control Lyapunov Functions ... 222 9.8 Exercises ... 227 10 Robust State Feedback Stabilization 231 10.1 Sliding Mode Control ... 232 10.2 Lyapunov Redesign ... 251 10.3 High-Gain Feedback ... 257 10.4 Exercises ... 259 11 Nonlinear Observers 263 11.1 Local Observers ... 264 11.2 The Extended Kalman Filter ... 266 11.3 Global Observers ... 270 11.4 High-Gain Observers ... 271 11.5 Exercises ... 277 12 Output Feedback Stabilization 281 12.1 Linearization ... 282 12.2 Passivity-Based Control ... 283 12.3 Observer-Based Control ... 286 12.4 High-Gain Observers and the Separation Principle ... 288 12.5 Robust Stabilization of Minimum Phase Systems ... 296 12.5.1 Relative Degree One ... 296 12.5.2 Relative Degree Higher Than One ... 298 12.6 Exercises ... 304 13 Tracking and Regulation 307 13.1 Tracking ... 310 13.2 Robust Tracking ... 312 13.3 Transition Between Set Points ... 314 13.4 Robust Regulation via Integral Action ... 318 13.5 Output Feedback ... 322 13.6 Exercises ... 325 A Examples 329 A.1 Pendulum ... 329 A.2 Mass-Spring System ... 331 A.3 Tunnel-Diode Circuit ... 333 A.4 Negative-Resistance Oscillator ... 335 A.5 DC-to-DC Power Converter ... 337 A.6 Biochemical Reactor ... 338 A.7 DC Motor ... 339 A.8 Magnetic Levitation ... 340 A.9 Electrostatic Microactuator ... 342 A.10 Robot Manipulator ... 344 A.11 Inverted Pendulum on a Cart ... 344 A.12 Translational Oscillator with Rotating Actuator ... 347 B Mathematical Review 349 C Composite Lyapunov Functions 355 C.1 Cascade Systems ... 355 C.2 Interconnected systems ... 357 C.3 Singularly Perturbed Systems ... 359 D Proofs 363

Szczegóły: Nonlinear Control: Global Edition - Hassan Khalil

Tytuł: Nonlinear Control: Global Edition
Autor: Hassan Khalil
Producent: Pearson
ISBN: 9781292060507
Rok produkcji: 2014
Ilość stron: 400
Oprawa: Miękka
Waga: 0.49 kg

Recenzje: Nonlinear Control: Global Edition - Hassan Khalil