Applied Nonlinear ControlNonlinear systems analysis - Phase plane analysis - Fundamentals of Lyapunov theory - Advanced stability theory - Describing function analysis - Nonlinear control systems design - Feedback linearization - Sliding control - Adaptive control - Control of multi-input physical systems. |
Contents
Introduction | 1 |
Phase Plane Analysis | 19 |
Fundamentals of Lyapunov Theory | 40 |
Copyright | |
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Common terms and phrases
adaptation law adaptive control adaptive control system amplitude assume asymptotic stability autonomous systems Barbalat's lemma behavior bounded chapter closed-loop composite adaptation computed Consider control design control input control law control problem converge to zero corresponding dead-zone defined derivative describing function desired trajectory differential equations discussed equilibrium point Example exists feedback linearization filter function V(x G(jw globally asymptotically implies initial conditions input-state internal dynamics invariant set theorem limit cycle linear control linear systems linearizable Lyapunov function Lyapunov stability manipulator matrix non-autonomous systems nonlinear element nonlinear system Note output parameter estimation passive phase plane phase portrait plant positive constant positive definite function positive real properties relative degree result robot robust scalar function signals sin(wt sinusoidal strictly positive symmetric techniques time-varying time-varying systems time(sec torque tracking control tracking error transfer function uncertainty uniform asymptotic uniformly continuous unstable x₁ zero-dynamics