## Controller design for nonlinear and time varying plants, Volume 152 |

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algebraic function asymptotically stable chosen coefficient Computer Simulation control signal level CONTROLLER DESIGN coulomb friction damping ratio derivatives design parameters design problem diagonal Q matrix differential equation digital computer eigenvalues equilibrium error variable function f Hard and Soft higher order systems input Liapunov function linear time-varying plant max max max model reference nonlinear plants nonlinearity is known nxn constant matrix plant and model plant nonlinearities Plant With Hard Plant With Square Plant With Static Plant With Zero Plot of e(t positive definite matrix Q and AQ quadratic form Relation of Switching Response For Third right hand side Second Method concerns Second Order Plant second order problem Slope to Convergence Soft Spring Type spring type nonlinearities square law damping stability static friction Static or Coulomb Switching Line Slope third order plant Third Order System Transient Response unity linear University of Connecticut VARYING PLANTS vector x u(t