Robust Control Design: An Optimal Control Approach / Edition 1

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Comprehensive and accessible guide to the three main approaches to robust control design and its applications. Optimal control is a mathematical field that is concerned with control policies that can be deduced using optimization algorithms. The optimal control approach to robust control design differs from conventional direct approaches to robust control that are more commonly discussed by firstly translating the robust control problem into its optimal control counterpart, and then solving the optimal control problem.

Robust Control Design: An Optimal Control Approach offers a complete presentation of this approach to robust control design, presenting modern control theory in an concise manner. The other two major approaches to robust control design, the H_infinite approach and the Kharitonov approach, are also covered and described in the simplest terms possible, in order to provide a complete overview of the area. It includes up-to-date research, and offers both theoretical and practical applications that include flexible structures, robotics, and automotive and aircraft control.

Robust Control Design: An Optimal Control Approach will be of interest to those needing an introductory textbook on robust control theory, design and applications as well as graduate and postgraduate students involved in systems and control research. Practitioners will also find the applications presented useful when solving practical problems in the engineering field.

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Product Details

  • ISBN-13: 9780470031919
  • Publisher: Wiley
  • Publication date: 9/10/2007
  • Series: RSP Series
  • Edition description: New Edition
  • Edition number: 1
  • Pages: 378
  • Product dimensions: 6.30 (w) x 8.98 (h) x 1.04 (d)

Table of Contents

Preface     xi
Notation     xiii
Introduction     1
Systems and Control     1
Modern Control Theory     5
Stability     6
Optimal Control     8
Optimal Control Approach     9
Kharitonov Approach     10
H[infinity] and H[subscript 2] Control     11
Applications     12
Use of this Book     13
Fundamentals of Control Theory     15
State Space Model     16
Responses of Linear Systems     17
Similarity Transformation     25
Controllability and Observability     33
Pole Placement by State Feedback     44
Pole Placement Using Observer     52
Notes and References     63
Problems     63
Stability Theory     69
Stability and Lyapunov Theorem     69
Linear Systems     73
Routh-Hurwitz Criterion     75
Nyquist Criterion     85
Stabilizability and Detectability     93
Notes and References     98
Problems     98
Optimal Control and Optimal Observers     101
Optimal ControlProblem     101
Principle of Optimality     105
Hamilton-Jacobi-Bellman Equation     110
Linear Quadratic Regulator Problem     112
Kalman Filter     120
Notes and References     127
Problems     127
Robust Control of Linear Systems     133
Introduction     134
Matched Uncertainty     137
Unmatched Uncertainty     145
Uncertainty in the Input Matrix     154
Notes and References     169
Problems     170
Robust Control of Nonlinear Systems     173
Introduction     174
Matched Uncertainty     176
Unmatched Uncertainty     180
Uncertainty in the Input Matrix     188
Notes and References     210
Problems     210
Kharitonov Approach     213
Introduction     213
Preliminary Theorems     214
Kharitonov Theorem     227
Control Design Using Kharitonov Theorem     231
Notes and References     236
Problems     236
H[infinity] and H[subscript 2] Control     239
Introduction      239
Function Space     240
Computation of H[subscript 2] and H[infinity] Norms     244
Robust Control Problem as H[subscript 2] and H[infinity] Control Problem     252
H[subscript 2]/H[infinity] Control Synthesis     256
Notes and References     273
Problems     273
Robust Active Damping     277
Introduction     277
Problem Formulation     279
Robust Active Damping Design     282
Active Vehicle Suspension System     287
Discussion     290
Notes and References     295
Robust Control of Manipulators     297
Robot Dynamics     297
Problem Formulation     302
Robust Control Design     304
Simulations     306
Notes and References     316
Aircraft Hovering Control     317
Modelling and Problem Formulation     317
Control Design for Jet-borne Hovering     322
Simulation     330
Notes and References     336
Mathematical Modelling of Physical Systems     339
References and Bibliography     351
Index     363
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