Robust Control Design
An Optimal Control Approach
1st Edition
Published on 27. September 2007
378 pages
978-0-470-05956-2 (ISBN)
Description
Comprehensive and accessible guide to the three main approachesto robust control design and its applications
Optimal control is a mathematical field that is concerned withcontrol policies that can be deduced using optimization algorithms.The optimal control approach to robust control design differs fromconventional direct approaches to robust control that are morecommonly discussed by firstly translating the robust controlproblem into its optimal control counterpart, and then solving theoptimal control problem.
Robust Control Design: An Optimal Control Approach offersa complete presentation of this approach to robust control design,presenting modern control theory in an concise manner. The othertwo major approaches to robust control design, the H_infiniteapproach and the Kharitonov approach, are also covered anddescribed in the simplest terms possible, in order to provide acomplete overview of the area. It includes up-to-date research, andoffers both theoretical and practical applications that includeflexible structures, robotics, and automotive and aircraftcontrol.
Robust Control Design: An Optimal Control Approach willbe of interest to those needing an introductory textbook on robustcontrol theory, design and applications as well as graduate andpostgraduate students involved in systems and control research.Practitioners will also find the applications presented useful whensolving practical problems in the engineering field.
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Content
Preface.
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 H2Control.
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 PhysicalSystems.
References and Bibliography.
Index.
