## High Performance ControlThe engineering objective of high performance control using the tools of optimal control theory, robust control theory, and adaptive control theory is more achiev able now than ever before, and the need has never been greater. Of course, when we use the term high peiformance control we are thinking of achieving this in the real world with all its complexity, uncertainty and variability. Since we do not expect to always achieve our desires, a more complete title for this book could be "Towards High Performance Control". To illustrate our task, consider as an example a disk drive tracking system for a portable computer. The better the controller performance in the presence of eccen tricity uncertainties and external disturbances, such as vibrations when operated in a moving vehicle, the more tracks can be used on the disk and the more memory it has. Many systems today are control system limited and the quest is for high performance in the real world. |

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### Contents

V | 1 |

VI | 3 |

VII | 6 |

VIII | 14 |

X | 16 |

XII | 17 |

XIII | 19 |

XIV | 20 |

XLVI | 183 |

XLVII | 185 |

XLVIII | 193 |

XLIX | 202 |

L | 205 |

LI | 206 |

LII | 217 |

LIII | 229 |

XV | 28 |

XVI | 34 |

XVII | 41 |

XVIII | 51 |

XIX | 52 |

XX | 59 |

XXI | 64 |

XXII | 68 |

XXIII | 81 |

XXIV | 89 |

XXV | 91 |

XXVI | 92 |

XXVII | 100 |

XXVIII | 111 |

XXIX | 115 |

XXX | 126 |

XXXI | 127 |

XXXII | 129 |

XXXIII | 145 |

XXXIV | 154 |

XXXV | 155 |

XXXVI | 156 |

XXXVII | 158 |

XXXVIII | 160 |

XXXIX | 164 |

XL | 167 |

XLI | 169 |

XLII | 174 |

XLIII | 177 |

XLIV | 178 |

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### Common terms and phrases

achieve actual plant adaptive algorithm adaptive control adaptive scheme adaptive system adaptive-Q applied approach approximation Assumption asymptotic stability asymptotically augmented averaging Bezout BIBO stability block bounded Chapter closed-loop poles closed-loop system Consider continuous-time control algorithm control loop control objective control system controller design coprime factorizations defined denoted depicted in Figure discrete-time disturbance response double Bezout eigenvalues EPROM equation equivalently error estimate feedback exists feedback controller follows given identification implementation input iterated Lemma Lipschitz continuous loop recovery LQG controller matrix transfer function microcontroller microprocessor minimal minimal realization minimum phase Moore nominal controller nonlinear norm notation optimal control output pair parameter parameterized performance index plant G problem realization representation Riccati equation robust controller scalar sensors simulation solution space stabilizable stabilizing controllers Theorem theory time-varying time-varying systems tion trajectory troller uncertainties unmodeled dynamics variables vector zero