Description
Book SynopsisRobust Control Design is based on research into an optimal control approach to robust control design. This book presents an approach that differs from the conventional direct approaches to robust control usually discussed, by firstly translating the robust control problem into its optimal control counterpart.
Table of ContentsPreface. Notation.
1 Introduction.
1.1 Systems and Control
1.2 Modern Control Theory
1.3 Stability
1.4 Optimal Control
1.5 Optimal Control Approach
1.6 Kharitonov Approach
1.7 H_ and H2 Control
1.8 Applications
1.9 Use of This Book
2 Fundamentals of Control Theory.
2.1 State Space Model
2.2 Responses of Linear Systems
2.3 Similarity Transformation
2.4 Controllability and Observability
2.5 Pole Placement by State Feedback
2.6 Pole Placement Using Observer
2.7 Notes and References
2.8 Problems
3 Stability Theory.
3.1 Stability and Lyapunov Theorem
3.2 Linear Systems
3.3 Routh–Hurwitz Criterion
3.4 Nyquist Criterion
3.5 Stabilizability and Detectability
3.6 Notes and References
3.7 Problems
4 Optimal Control and Optimal Observers.
4.1 Optimal Control Problem
4.2 Principle of Optimality
4.3 Hamilton–Jacobi–Bellman Equation
4.4 Linear Quadratic Regulator Problem
4.5 Kalman Filter
4.6 Notes and References
4.7 Problems
5 Robust Control of Linear Systems.
5.1 Introduction
5.2 Matched Uncertainty
5.3 Unmatched Uncertainty
5.4 Uncertainty in the Input Matrix
5.5 Notes and References
5.6 Problems
6 Robust Control of Nonlinear Systems.
6.1 Introduction
6.2 Matched Uncertainty
6.3 Unmatched Uncertainty
6.4 Uncertainty in the Input Matrix
6.5 Notes and References
6.6 Problems
7 Kharitonov Approach.
7.1 Introduction
7.2 Preliminary Theorems
7.3 Kharitonov Theorem
7.4 Control Design Using Kharitonov Theorem
7.5 Notes and References
7.6 Problems
8 H and H2 Control.
8.1 Introduction
8.2 Function Space
8.3 Computation of H2 and H_ Norms
8.4 Robust Control Problem as H2 and H_ Control
Problem
8.5 H2/H_ Control Synthesis
8.6 Notes and References
8.7 Problems
9 Robust Active Damping.
9.1 Introduction
9.2 Problem Formulation
9.3 Robust Active Damping Design
9.4 Active Vehicle Suspension System
9.5 Discussion
9.6 Notes and References
10 Robust Control of Manipulators.
10.1 Robot Dynamics
10.2 Problem Formulation
10.3 Robust Control Design
10.4 Simulations
10.5 Notes and References
11 Aircraft Hovering Control.
11.1 Modelling and Problem Formulation
11.2 Control Design for Jet-borne Hovering
11.3 Simulation
11.4 Notes and References
Appendix A: Mathematical Modelling of Physical Systems.
References and Bibliography.
Index.
