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Algebraic Methods for Nonlinear Control Systems

:	Giuseppe Conte, Claude H. Moog, Anna Maria Perdon
:	Algebraic Methods for Nonlinear Control Systems
:	Springer-Verlag
:	9781846285950
:	2
:	CHF 85.40
:

:	Elektronik, Elektrotechnik, Nachrichtentechnik
:	English

:	178
:	Wasserzeichen
:	PC/MAC/eReader/Tablet
:	PDF

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.

	Preface to the Second Edition	7
	Preface to the First Edition	8
	Contents	11
	Methodology	15
	1 Preliminaries	16
	1.1 Analytic and Meromorphic Functions	17
	1.2 Control Systems	21
	1.3 Linear Algebraic Setting	23
	1.4 Frobenius Theorem	27
	1.5 Examples	29
	Problems	31
	2 Modeling	33
	2.1 State Elimination	33
	2.2 Examples	37
	2.3 Generalized Realization	38
	2.4 Classical Realization	40
	2.5 Input-output Equivalence and Realizations	41
	2.6 A Necessary and Sufficient Condition for the Existence of a Realization	43
	2.7 Minimal Realizations	45
	2.8 Affine Realizations	46
	2.9 The Hopping Robot	51
	2.10 Some Models	53
	Problems	54
	3 Accessibility	56
	3.1 Introduction	56
	3.2 Examples	56
	3.3 Reachability, Controllability, and Accessibility	57
	3.4 Autonomous Elements	58
	3.5 Accessible Systems	60
	3.6 Controllability Canonical Form	61
	3.7 Controllability Indices	62
	3.8 Accessibility of the Hopping Robot Model	64
	Problems	64
	4 Observability	66
	4.1 Introduction	66
	4.2 Examples	66
	4.3 Observability	67
	4.4 The Observable Space	68
	4.5 Observability Canonical Form	71
	4.6 Observability Indices	72
	4.7 Synthesis of Observers	73
	Problems	80
	5 Systems Structure and Inversion	81
	5.1 Introductory Examples	81
	5.2 Inverse Systems	82
	5.3 Structural Indices	83
	5.4 Structure Algorithm	86
	5.5 Invertibility	93
	5.6 Zero Dynamics	94
	Problems	97
	6 System Transformations	99
	6.1 Generalized State-space Transformation	99
	6.2 Regular Generalized State Feedback	100
	6.3 Generalized Output Injection	102
	6.4 Canonical Form	103
	6.5 Generalizing the Notion of Output Injection	109
	Problem	112
	Applications to Control Problems	113
	7 Input-output Linearization	114
	7.1 Input-output Linearization Problem Statement	114
	7.2 Single-output Case	115
	7.3 Multioutput Case	115
	7.4 Trajectory Tracking	118
	Problems	122
	8 Noninteracting Control	123
	8.1 Noninteracting Control Problem Statement	123
	8.2 Static State Feedback Solution	124
	8.3 Dynamic State Feedback Solution	124
	8.4 Noninteracting Control via Quasi-static State Feedback	125
	Problem	126
	9 Input-state Linearization	127
	9.1 Input-state Linearization Problem Statement	127
	9.2 Static State Feedback Solution	128
	9.3 Partial Linearization	130
	Problem	134
	10 Disturbance Decoupling	135
	10.1 Solution of the Disturbance Decoupling Problem	136
	11 Model Matching	138
	11.1 A Special Form of the Inversion Algorithm	138
	11.2 Model Matching Problem	141
	11.3 Left Factorization	149
	12 Measured Output Feedback Control Problems	156
	12.1 Input-output Linearization	156
	12.2 Input-output Decoupling	171
	Problem	172
	References	173
	Index	182