Optimal Control and Estimation [NOOK Book]

Overview




"An excellent introduction to optimal control and estimation theory and its relationship with LQG design. . . . invaluable as a reference for those already familiar with the subject." — Automatica.
This highly regarded graduate-level text provides a comprehensive introduction to optimal control theory for stochastic systems, emphasizing application of its basic concepts to real problems. The first two chapters introduce optimal control and review the mathematics of control ...
See more details below
Optimal Control and Estimation

Available on NOOK devices and apps  
  • NOOK Devices
  • Samsung Galaxy Tab 4 NOOK 7.0
  • Samsung Galaxy Tab 4 NOOK 10.1
  • NOOK HD Tablet
  • NOOK HD+ Tablet
  • NOOK eReaders
  • NOOK Color
  • NOOK Tablet
  • Tablet/Phone
  • NOOK for Windows 8 Tablet
  • NOOK for iOS
  • NOOK for Android
  • NOOK Kids for iPad
  • PC/Mac
  • NOOK for Windows 8
  • NOOK for PC
  • NOOK for Mac
  • NOOK for Web

Want a NOOK? Explore Now

NOOK Book (eBook)
$15.99
BN.com price
(Save 44%)$28.95 List Price

Overview




"An excellent introduction to optimal control and estimation theory and its relationship with LQG design. . . . invaluable as a reference for those already familiar with the subject." — Automatica.
This highly regarded graduate-level text provides a comprehensive introduction to optimal control theory for stochastic systems, emphasizing application of its basic concepts to real problems. The first two chapters introduce optimal control and review the mathematics of control and estimation. Chapter 3 addresses optimal control of systems that may be nonlinear and time-varying, but whose inputs and parameters are known without error.
Chapter 4 of the book presents methods for estimating the dynamic states of a system that is driven by uncertain forces and is observed with random measurement error. Chapter 5 discusses the general problem of stochastic optimal control, and the concluding chapter covers linear time-invariant systems.
Robert F. Stengel is Professor of Mechanical and Aerospace Engineering at Princeton University, where he directs the Topical Program on Robotics and Intelligent Systems and the Laboratory for Control and Automation. He was a principal designer of the Project Apollo Lunar Module control system.
"An excellent teaching book with many examples and worked problems which would be ideal for self-study or for use in the classroom. . . . The book also has a practical orientation and would be of considerable use to people applying these techniques in practice." — Short Book Reviews, Publication of the International Statistical Institute.
"An excellent book which guides the reader through most of the important concepts and techniques. . . . A useful book for students (and their teachers) and for those practicing engineers who require a comprehensive reference to the subject." — Library Reviews, The Royal Aeronautical Society.
Read More Show Less

Editorial Reviews

Booknews
Reprint of the respected Wiley edition originally published in 1986. Annotation c. Book News, Inc., Portland, OR (booknews.com)
Read More Show Less

Product Details

  • ISBN-13: 9780486134819
  • Publisher: Dover Publications
  • Publication date: 9/18/2012
  • Series: Dover Books on Mathematics
  • Sold by: Barnes & Noble
  • Format: eBook
  • Pages: 639
  • File size: 39 MB
  • Note: This product may take a few minutes to download.

Table of Contents

1. INTRODUCTION
1.1 Framework for Optimal Control
1.2 Modeling Dynamic Systems
1.3 Optimal Control Objectives
1.4 Overview of the Book
Problems
References
2. THE MATHEMATICS OF CONTROL AND ESTIMATION
2.1 "Scalars, Vectors, and Matrices "
Scalars
Vectors
Matrices
Inner and Outer Products
"Vector Lengths, Norms, and Weighted Norms "
"Stationary, Minimum, and Maximum Points of a Scalar Variable (Ordinary Maxima and Minima) "
Constrained Minima and Lagrange Multipliers
2.2 Matrix Properties and Operations
Inverse Vector Relationship
Matrix Determinant
Adjoint Matrix
Matrix Inverse
Generalized Inverses
Transformations
Differentiation and Integration
Some Matrix Identities
Eigenvalues and Eigenvectors
Singular Value Decomposition
Some Determinant Identities
2.3 Dynamic System Models and Solutions
Nonlinear System Equations
Local Linearization
Numerical Integration of Nonlinear Equasions
Numerical Integration of Linear Equations
Representation of Data
2.4 "Random Variables, Sequences, and Processes "
Scalar Random Variables
Groups of Random Variables
Scalar Random Sequences and Processes
Correlation and Covariance Functions
Fourier Series and Integrals
Special Density Functions of Random Processes
Spectral Functions of Random Sequences
Multivariate Statistics
2.5 Properties of Dynamic Systems
Static and Quasistatic Equilibrium
Stability
"Modes of Motion for Linear, Time-Invariant Systems "
"Reachability, Controllability, and Stabilizability "
"Constructability, Observability, and Detectability "
Discrete-Time Systems
2.6 Frequency Domain Modeling and Analysis
Root Locus
Frequency-Response Function and Bode Plot
Nyquist Plot and Stability Criterion
Effects of Sampling
Problems
References
3. OPTIMAL TRAJECTORIES AND NEIGHBORING-OPTIMAL SOLUTIONS
3.1 Statement of the Problem
3.2 Cost Functions
3.3 Parametric Optimization
3.4 Conditions for Optimality
Necessary Conditions for Optimality
Sufficient Conditions for Optimality
The Minimum Principle
The Hamiltonn-Jacobi-Bellman Equation
3.5 Constraints and Singular Control
Terminal State Equality Constraints
Equality Constraints on the State and Control
Inequality Constraints on the State and Control
Singular Control
3.6 Numerical Optimization
Penalty Function Method
Dynamic Programming
Neighboring Extremal Method
Quasilinearization Method
Gradient Methods
3.7 Neighboring-Optimal Solutions
Continuous Neighboring-Optimal Control
Dynamic Programming Solution for Continuous Linear-Quadratic Control
Small Disturbances and Parameter Variations
Problems
References
4. OPTIMAL STATE ESTIMATION
4.1 Least-Squares Estimates of Constant Vectors
Least-Squares Estimator
Weighted Least-Squares Estimator
Recursive Least-Squares Estimator
4.2 Propagation of the State Estimate and Its Uncertainty
Discrete- Time Systems
Sampled-Data Representation of Continuous-Time Systems
Continuous-Time Systems
Simulating Cross-Correlated White Noise
4.3 Discrete-Time Optimal Filters and Predictors
Kalman Filter
Linear-Optimal Predictor
Alternative Forms of the Linear-Optimal filter
4.4 Correlated Disturbance Inputs and Measurement Noise
Cross-Correlation of Disturbance Input and Measurement Noise
Time-Correlated Measurement Noise
4.5 Continuous-Time Optimal Filters and Predictors
Kalman-Bucy Filter
Duality
Linear-Optimal Predictor
Alternative Forms of the Linear-Optimal Filter
Correlation in Disturbance Inputs and Measurement Noise
4.6 Optimal Nonlinear Estimation
Neighboring-Optimal Linear Estimator
Extended Kalman-Bucy Filter
Quasilinear Filter
4.7 Adaptive Filtering
Parameter-Adaptive Filtering
Noise-Adaptive Filtering
Multiple-Model Estimation
Problems
References
5. STOCHASTIC OPTIMAL CONTROL
5.1 Nonlinear Systems with Random Inputs and Perfect Measurements
Stochastic Principle of Optimality for Nonlinear Systems
Stochastic Principle of Optimality for Linear-Quadratic Problems
Neighboring-Optimal Control
Evaluation of the Variational Cost Function
5.2 Nonlinear Systems with Random Inputs and Imperfect Measurements
Stochastic Principle of Optimality
Dual Control
Neigbboring-Optimal Control
5.3 The Certainty-Equivalence Property of Linear-Quadratic-Gaussian Controllers
The Continuous-Time Case
The Discrete-Time Case
Additional Cases Exhibiting Certainty Equivalence
5.4 "Linear, Time-Invariant Systems with Random Inputs and Imperfect Measurements "
Asymptotic Stability of the Linear-Quadratic Regulator
Asymptotic Stability of the Kalman-Bucy Filter
Asymptotic Stability of the Stochastic Regulator
Steady-State Performance of the Stochastic Regulator
The Discrete-Time Case
Problems
References
6. LINEAR MULTIVARIABLE CONTROL
6.1 Solution of the Algeb
Read More Show Less

Customer Reviews

Be the first to write a review
( 0 )
Rating Distribution

5 Star

(0)

4 Star

(0)

3 Star

(0)

2 Star

(0)

1 Star

(0)

Your Rating:

Your Name: Create a Pen Name or

Barnes & Noble.com Review Rules

Our reader reviews allow you to share your comments on titles you liked, or didn't, with others. By submitting an online review, you are representing to Barnes & Noble.com that all information contained in your review is original and accurate in all respects, and that the submission of such content by you and the posting of such content by Barnes & Noble.com does not and will not violate the rights of any third party. Please follow the rules below to help ensure that your review can be posted.

Reviews by Our Customers Under the Age of 13

We highly value and respect everyone's opinion concerning the titles we offer. However, we cannot allow persons under the age of 13 to have accounts at BN.com or to post customer reviews. Please see our Terms of Use for more details.

What to exclude from your review:

Please do not write about reviews, commentary, or information posted on the product page. If you see any errors in the information on the product page, please send us an email.

Reviews should not contain any of the following:

  • - HTML tags, profanity, obscenities, vulgarities, or comments that defame anyone
  • - Time-sensitive information such as tour dates, signings, lectures, etc.
  • - Single-word reviews. Other people will read your review to discover why you liked or didn't like the title. Be descriptive.
  • - Comments focusing on the author or that may ruin the ending for others
  • - Phone numbers, addresses, URLs
  • - Pricing and availability information or alternative ordering information
  • - Advertisements or commercial solicitation

Reminder:

  • - By submitting a review, you grant to Barnes & Noble.com and its sublicensees the royalty-free, perpetual, irrevocable right and license to use the review in accordance with the Barnes & Noble.com Terms of Use.
  • - Barnes & Noble.com reserves the right not to post any review -- particularly those that do not follow the terms and conditions of these Rules. Barnes & Noble.com also reserves the right to remove any review at any time without notice.
  • - See Terms of Use for other conditions and disclaimers.
Search for Products You'd Like to Recommend

Recommend other products that relate to your review. Just search for them below and share!

Create a Pen Name

Your Pen Name is your unique identity on BN.com. It will appear on the reviews you write and other website activities. Your Pen Name cannot be edited, changed or deleted once submitted.

 
Your Pen Name can be any combination of alphanumeric characters (plus - and _), and must be at least two characters long.

Continue Anonymously

    If you find inappropriate content, please report it to Barnes & Noble
    Why is this product inappropriate?
    Comments (optional)