Nonlinear Control Systems II


Author: Alberto Isidori
Publisher: Springer Science & Business Media
ISBN: 1447105494
Category: Technology & Engineering
Page: 293
View: 6081

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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.

CONTROL SYSTEMS, ROBOTICS AND AUTOMATION – Volume XIII

Nonlinear, Distributed, and Time Delay Systems-II
Author: Heinz D. Unbehauen
Publisher: EOLSS Publications
ISBN: 1848261527
Category:
Page: 516
View: 7356

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This Encyclopedia of Control Systems, Robotics, and Automation is a component of the global Encyclopedia of Life Support Systems EOLSS, which is an integrated compendium of twenty one Encyclopedias. This 22-volume set contains 240 chapters, each of size 5000-30000 words, with perspectives, applications and extensive illustrations. It is the only publication of its kind carrying state-of-the-art knowledge in the fields of Control Systems, Robotics, and Automation and is aimed, by virtue of the several applications, at the following five major target audiences: University and College Students, Educators, Professional Practitioners, Research Personnel and Policy Analysts, Managers, and Decision Makers and NGOs.

Surveys in Differential-Algebraic Equations I


Author: Achim Ilchmann,Timo Reis
Publisher: Springer Science & Business Media
ISBN: 3642349285
Category: Mathematics
Page: 231
View: 3012

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The need for a rigorous mathematical theory for Differential-Algebraic Equations (DAEs) has its roots in the widespread applications of controlled dynamical systems, especially in mechanical and electrical engineering. Due to the strong relation to (ordinary) differential equations, the literature for DAEs mainly started out from introductory textbooks. As such, the present monograph is new in the sense that it comprises survey articles on various fields of DAEs, providing reviews, presentations of the current state of research and new concepts in - Controllability for linear DAEs - Port-Hamiltonian differential-algebraic systems - Robustness of DAEs - Solution concepts for DAEs - DAEs in circuit modeling. The results in the individual chapters are presented in an accessible style, making this book suitable not only for active researchers but also for graduate students (with a good knowledge of the basic principles of DAEs) for self-study.

L2-Gain and Passivity Techniques in Nonlinear Control


Author: Arjan van der Schaft
Publisher: Springer
ISBN: 3319499920
Category: Computers
Page: 321
View: 8368

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This standard text gives a unified treatment of passivity and L2-gain theory for nonlinear state space systems, preceded by a compact treatment of classical passivity and small-gain theorems for nonlinear input-output maps. The synthesis between passivity and L2-gain theory is provided by the theory of dissipative systems. Specifically, the small-gain and passivity theorems and their implications for nonlinear stability and stabilization are discussed from this standpoint. The connection between L2-gain and passivity via scattering is detailed. Feedback equivalence to a passive system and resulting stabilization strategies are discussed. The passivity concepts are enriched by a generalised Hamiltonian formalism, emphasising the close relations with physical modeling and control by interconnection, and leading to novel control methodologies going beyond passivity. The potential of L2-gain techniques in nonlinear control, including a theory of all-pass factorizations of nonlinear systems, and of parametrization of stabilizing controllers, is demonstrated. The nonlinear H-infinity optimal control problem is also treated and the book concludes with a geometric analysis of the solution sets of Hamilton-Jacobi inequalities and their relation with Riccati inequalities for the linearization. · L2-Gain and Passivity Techniques in Nonlinear Control (third edition) is thoroughly updated, revised, reorganized and expanded. Among the changes, readers will find: · updated and extended coverage of dissipative systems theory · substantial new material regarding converse passivity theorems and incremental/shifted passivity · coverage of recent developments on networks of passive systems with examples · a completely overhauled and succinct introduction to modeling and control of port-Hamiltonian systems, followed by an exposition of port-Hamiltonian formulation of physical network dynamics · updated treatment of all-pass factorization of nonlinear systems The book provides graduate students and researchers in systems and control with a compact presentation of a fundamental and rapidly developing area of nonlinear control theory, illustrated by a broad range of relevant examples stemming from different application areas.

Analysis and Control of Nonlinear Process Systems


Author: Katalin M. Hangos,József Bokor,Gábor Szederkényi
Publisher: Springer Science & Business Media
ISBN: 185233861X
Category: Mathematics
Page: 310
View: 556

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This straightforward text makes the complicated but powerful methods of non-linear control accessible to process engineers. Not only does it cover the necessary mathematics, but it consistently refers to the widely-known finite-dimensional linear time-invariant continuous case as a basis for extension to the nonlinear situation.

Algebraic Methods for Nonlinear Control Systems


Author: Giuseppe Conte,Claude H. Moog,Anna Maria Perdon
Publisher: Springer Science & Business Media
ISBN: 184628595X
Category: Technology & Engineering
Page: 178
View: 9645

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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.

Symmetries and Semi-invariants in the Analysis of Nonlinear Systems


Author: Laura Menini,Antonio Tornambè
Publisher: Springer Science & Business Media
ISBN: 9780857296122
Category: Technology & Engineering
Page: 340
View: 8426

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This book details the analysis of continuous- and discrete-time dynamical systems described by differential and difference equations respectively. Differential geometry provides the tools for this, such as first-integrals or orbital symmetries, together with normal forms of vector fields and of maps. A crucial point of the analysis is linearization by state immersion. The theory is developed for general nonlinear systems and specialized for the class of Hamiltonian systems. By using the strong geometric structure of Hamiltonian systems, the results proposed are stated in a different, less complex and more easily comprehensible manner. They are applied to physically motivated systems, to demonstrate how much insight into known properties is gained using these techniques. Various control systems applications of the techniques are characterized including: computation of the flow of nonlinear systems; computation of semi-invariants; computation of Lyapunov functions for stability analysis and observer design.

Mathematical Control Theory I

Nonlinear and Hybrid Control Systems
Author: M. Kanat Camlibel,A. Agung Julius,Ramkrishna Pasumarthy,Jacquelien M.A. Scherpen
Publisher: Springer
ISBN: 3319209884
Category: Technology & Engineering
Page: 402
View: 5482

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This treatment of modern topics related to mathematical systems theory forms the proceedings of a workshop, Mathematical Systems Theory: From Behaviors to Nonlinear Control, held at the University of Groningen in July 2015. The workshop celebrated the work of Professors Arjan van der Schaft and Harry Trentelman, honouring their 60th Birthdays. The first volume of this two-volume work covers a variety of topics related to nonlinear and hybrid control systems. After giving a detailed account of the state of the art in the related topic, each chapter presents new results and discusses new directions. As such, this volume provides a broad picture of the theory of nonlinear and hybrid control systems for scientists and engineers with an interest in the interdisciplinary field of systems and control theory. The reader will benefit from the expert participants’ ideas on exciting new approaches to control and system theory and their predictions of future directions for the subject that were discussed at the workshop.

Dissipative Systems Analysis and Control

Theory and Applications
Author: Bernard Brogliato,Rogelio Lozano,Bernhard Maschke,Olav Egeland
Publisher: Springer Science & Business Media
ISBN: 1846285178
Category: Technology & Engineering
Page: 579
View: 3729

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This second edition of Dissipative Systems Analysis and Control has been substantially reorganized to accommodate new material and enhance its pedagogical features. It examines linear and nonlinear systems with examples of both in each chapter. Also included are some infinite-dimensional and nonsmooth examples. Throughout, emphasis is placed on the use of the dissipative properties of a system for the design of stable feedback control laws.

Nonlinear Systems

Techniques for Dynamical Analysis and Control
Author: Nathan van de Wouw,Erjen Lefeber,Ines Lopez Arteaga
Publisher: Springer
ISBN: 3319303570
Category: Technology & Engineering
Page: 234
View: 2625

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This treatment of modern topics related to the control of nonlinear systems is a collection of contributions celebrating the work of Professor Henk Nijmeijer and honoring his 60th birthday. It addresses several topics that have been the core of Professor Nijmeijer’s work, namely: the control of nonlinear systems, geometric control theory, synchronization, coordinated control, convergent systems and the control of underactuated systems. The book presents recent advances in these areas, contributed by leading international researchers in systems and control. In addition to the theoretical questions treated in the text, particular attention is paid to a number of applications including (mobile) robotics, marine vehicles, neural dynamics and mechanical systems generally. This volume provides a broad picture of the analysis and control of nonlinear systems for scientists and engineers with an interest in the interdisciplinary field of systems and control theory. The reader will benefit from the expert participants’ ideas on important open problems with contributions that represent the state of the art in nonlinear control.

Advances in Communications

Volume 1: Advances in Communications Volume 2: Advances in Control Volume 3: Applications of Information and Control Systems
Author: D.G. Lainiotis,N.S. Tzannes
Publisher: Springer Science & Business Media
ISBN: 9789027711403
Category: Technology & Engineering
Page: 524
View: 7378

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V.1 - Advances in communications; v.2 - Advances in control; v.3 - Applications of information and control systems.

Sampled-Data Control Systems

Analysis and Synthesis, Robust System Design
Author: Jürgen Ackermann
Publisher: Springer Science & Business Media
ISBN: 3642825540
Category: Technology & Engineering
Page: 596
View: 6719

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The first German edition of this book appeared in 1972, and in Polish translation in 1976. It covered the analysis and synthesis of sampled-data systems. The second German edition of 1983 ex tended the scope to design, in particular design for robustness of control system properties with respect to uncertainty of plant parameters. This book is a revised translation of the second Ger man edition. The revisions concern primarily a new treatment of the finite effect sequences and the use of nice numerical proper ties of Hessenberg forms. The introduction describes examples of sampled-data systems, in particular digital controllers, and analyzes the sampler and hold; also some design aspects are introduced. Chapter 2 reviews the modelling and analysis of continuous systems. Pole shifting is formulated as an affine mapping, here some n~w material on fixing some eigenvalues or some gains in a design step is included. Chapter 3 treats the analysis of sampled-data systems by state space and z-transform methods. This includes sections on inter sampling behavior, time-delay systems, absolute stability and non synchronous sampling. Chapter 4 treats controllability and reach ability of discrete-time systems, controllability regions for con strained inputs and the choice of the sampling interval primarily under controllability aspects. Chapter 5 deals with observability and constructability both from the discrete and continuous plant output. Full and reduced order observers are treated as well as disturbance observers.

Linear and Nonlinear Control of Small-Scale Unmanned Helicopters


Author: Ioannis A. Raptis,Kimon P. Valavanis
Publisher: Springer Science & Business Media
ISBN: 9789400700239
Category: Technology & Engineering
Page: 198
View: 7171

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There has been significant interest for designing flight controllers for small-scale unmanned helicopters. Such helicopters preserve all the physical attributes of their full-scale counterparts, being at the same time more agile and dexterous. This book presents a comprehensive and well justified analysis for designing flight controllers for small-scale unmanned helicopters guarantying flight stability and tracking accuracy. The design of the flight controller is a critical and integral part for developing an autonomous helicopter platform. Helicopters are underactuated, highly nonlinear systems with significant dynamic coupling that needs to be considered and accounted for during controller design and implementation. Most reliable mathematical tools for analysis of control systems relate to modern control theory. Modern control techniques are model-based since the controller architecture depends on the dynamic representation of the system to be controlled. Therefore, the flight controller design problem is tightly connected with the helicopter modeling. This book provides a step-by-step methodology for designing, evaluating and implementing efficient flight controllers for small-scale helicopters. Design issues that are analytically covered include: • An illustrative presentation of both linear and nonlinear models of ordinary differential equations representing the helicopter dynamics. A detailed presentation of the helicopter equations of motion is given for the derivation of both model types. In addition, an insightful presentation of the main rotor's mechanism, aerodynamics and dynamics is also provided. Both model types are of low complexity, physically meaningful and capable of encapsulating the dynamic behavior of a large class of small-scale helicopters. • An illustrative and rigorous derivation of mathematical control algorithms based on both the linear and nonlinear representation of the helicopter dynamics. Flight controller designs guarantee that the tracking objectives of the helicopter's inertial position (or velocity) and heading are achieved. Each controller is carefully constructed by considering the small-scale helicopter's physical flight capabilities. Concepts of advanced stability analysis are used to improve the efficiency and reduce the complexity of the flight control system. Controller designs are derived in both continuous time and discrete time covering discretization issues, which emerge from the implementation of the control algorithm using microprocessors. • Presentation of the most powerful, practical and efficient methods for extracting the helicopter model parameters based on input/output responses, collected by the measurement instruments. This topic is of particular importance for real-life implementation of the control algorithms. This book is suitable for students and researches interested in the development and the mathematical derivation of flight controllers for small-scale helicopters. Background knowledge in modern control is required.

Stability and Stabilization of Nonlinear Systems


Author: Iasson Karafyllis,Zhong-Ping Jiang
Publisher: Springer Science & Business Media
ISBN: 9780857295132
Category: Technology & Engineering
Page: 388
View: 9051

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Recently, the subject of nonlinear control systems analysis has grown rapidly and this book provides a simple and self-contained presentation of their stability and feedback stabilization which enables the reader to learn and understand major techniques used in mathematical control theory. In particular: the important techniques of proving global stability properties are presented closely linked with corresponding methods of nonlinear feedback stabilization; a general framework of methods for proving stability is given, thus allowing the study of a wide class of nonlinear systems, including finite-dimensional systems described by ordinary differential equations, discrete-time systems, systems with delays and sampled-data systems; approaches to the proof of classical global stability properties are extended to non-classical global stability properties such as non-uniform-in-time stability and input-to-output stability; and new tools for stability analysis and control design of a wide class of nonlinear systems are introduced. The presentational emphasis of Stability and Stabilization of Nonlinear Systems is theoretical but the theory’s importance for concrete control problems is highlighted with a chapter specifically dedicated to applications and with numerous illustrative examples. Researchers working on nonlinear control theory will find this monograph of interest while graduate students of systems and control can also gain much insight and assistance from the methods and proofs detailed in this book.

Asynchronous Control for Networked Systems


Author: María Guinaldo Losada,Francisco Rodríguez Rubio,Sebastián Dormido Bencomo
Publisher: Springer
ISBN: 3319212990
Category: Technology & Engineering
Page: 339
View: 8642

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This book sheds light on networked control systems; it describes different techniques for asynchronous control, moving away from the periodic actions of classical control, replacing them with state-based decisions and reducing the frequency with which communication between subsystems is required. The text focuses specially on event-based control. Split into two parts, Asynchronous Control for Networked Systems begins by addressing the problems of single-loop networked control systems, laying out various solutions which include two alternative model-based control schemes (anticipatory and predictive) and the use of H2/H∞ robust control to deal with network delays and packet losses. Results on self-triggering and send-on-delta sampling are presented to reduce the need for feedback in the loop. In Part II, the authors present solutions for distributed estimation and control. They deal first with reliable networks and then extend their results to scenarios in which delays and packet losses may occur. The novel results presented in Asynchronous Control for Networked Systems are transmitted in a concise and clear style supported by simulation and experimental examples. Some applications are also provided. Academic researchers and graduate students investigating control theory, control engineering and computer communications systems can use this monograph to learn how asynchronous control helps tackle the problems of networked systems in centralized and distributed schemes. Control practitioners at work in power systems, vehicle coordination and traffic networks will also find this book helpful in improving the performance of their systems.

Constraint-Programmierung

Grundlagen und Anwendungen
Author: Thom Frühwirth,Slim Abdennadher
Publisher: Springer-Verlag
ISBN: 3642591159
Category: Mathematics
Page: 165
View: 3558

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Das Buch gibt einen kompakten, aber umfassenden Überblick über das Problemlösen und Programmieren mit "Constraints" (Randbedingungen). Diese aktuelle Programmiermethodik ermöglicht es, Aufgaben direkt zu formulieren und effizient zu lösen. Sie gewinnt zusehends Bedeutung in Anwendungsbereichen wie Kombinatorische Suchprobleme (z.B. Zeitplanen, Layout-Optimierung), Berechnungen (Finanzanalyse), Simulation (Hardware-Verifikation) oder allgemein Schließen und Rechnen mit ungenauer oder unvollständiger Information (z.B. Kostenschätzung). Die theoretisch fundierte Darstellung mit Aufgaben und Anwendungsbeispielen aus der Praxis ist in der Lehre erprobt, aber auch für Forscher und Praktiker von Nutzen.

Robuste Regelung

Analyse und Entwurf von linearen Regelungssystemen mit unsicheren physikalischen Parametern
Author: Jürgen Ackermann
Publisher: Springer-Verlag
ISBN: 366209777X
Category: Technology & Engineering
Page: 423
View: 1737

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Robuste Regelung stellt einen für die praktische Umsetzung wichtigen Aspekt der Regelungstheorie dar. Sie gibt Auskunft, ob die Einschwingvorgänge linearer Regelsysteme rasch abklingen. Dies ist wichtig bei realen Systemen, bei denen sich starke Änderungen der Betriebsbedingungen einstellen, in der Praxis z.B. bei einem Kran mit variabler Seillänge oder Lastmasse, aber auch bei einem Flugzeug, das mit verschiedenen Geschwindigkeiten in verschiedenen Höhen fliegt. Robuste Regelung von Jürgen Ackermann liefert den neuesten Stand der Verfahren zur Robustheitsanalyse. Es werden Entwurfswerkzeuge (Parameterraum-Verfahren, Gütevektor-Optimierung) vorgestellt und auf die Regelung praktischer mechanischer Systeme aus Automobil- und Luftfahrttechnik angewendet. Angesprochen sind in erster Linie Ingenieure der Elektrotechnik und des Maschinenbaus.

Hybrid Systems II


Author: Panos Antsaklis,Wolf Kohn,Anil Nerode,Shankar Sastry
Publisher: Springer Science & Business Media
ISBN: 9783540604723
Category: Computers
Page: 575
View: 2689

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This book documents the scientific outcome of the Third International Workshop on Hybrid Systems, held in Ithaca, NY, USA, in October 1994. It presents a selection of carefully reviewed and revised full papers chosen from the workshop contribution and is the successor to LNCS 736, the seminal "Hybrid Systems" volume edited by Grossman, Nerode, Ravn, and Rischel. Hybrid systems are models for networks of digital and continuous devices, in which digital control programs sense and supervise continuous and discrete plants governed by differential or difference equations. The investigation of hybrid systems is creating a new and fascinating discipline bridging mathematics, computer science, and control engineering.

Non-linear Control for Underactuated Mechanical Systems


Author: Isabelle Fantoni,Rogelio Lozano
Publisher: Springer Science & Business Media
ISBN: 9781852334239
Category: Technology & Engineering
Page: 295
View: 8395

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This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.