Robust nonlinear control design: state space and Lyapunov techniques
Gespeichert in:
| Beteiligte Personen: | , |
|---|---|
| Format: | Buch |
| Sprache: | Englisch |
| Veröffentlicht: |
Boston, Mass. [u.a.]
Birkhäuser
1996
|
| Schriftenreihe: | Systems & control : Foundations & applications
|
| Schlagwörter: | |
| Links: | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007318602&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| Umfang: | XII, 257 S. graph. Darst. |
| ISBN: | 0817639306 3764339306 |
Internformat
MARC
| LEADER | 00000nam a2200000 c 4500 | ||
|---|---|---|---|
| 001 | BV010943513 | ||
| 003 | DE-604 | ||
| 005 | 20080721 | ||
| 007 | t| | ||
| 008 | 960911s1996 xxud||| |||| 00||| eng d | ||
| 016 | 7 | |a 948457104 |2 DE-101 | |
| 020 | |a 0817639306 |9 0-8176-3930-6 | ||
| 020 | |a 3764339306 |9 3-7643-3930-6 | ||
| 035 | |a (OCoLC)34722019 | ||
| 035 | |a (DE-599)BVBBV010943513 | ||
| 040 | |a DE-604 |b ger |e rakddb | ||
| 041 | 0 | |a eng | |
| 044 | |a xxu |c XD-US | ||
| 049 | |a DE-384 |a DE-91 |a DE-20 |a DE-703 |a DE-706 |a DE-521 |a DE-83 |a DE-29T | ||
| 050 | 0 | |a QA402.35.F74 1996 | |
| 082 | 0 | |a 629.8/312 |2 20 | |
| 082 | 0 | |a 629.8/312 20 | |
| 084 | |a SK 880 |0 (DE-625)143266: |2 rvk | ||
| 084 | |a 27 |2 sdnb | ||
| 084 | |a 28 |2 sdnb | ||
| 084 | |a MSR 618f |2 stub | ||
| 084 | |a MSR 660f |2 stub | ||
| 084 | |a 37 |2 sdnb | ||
| 100 | 1 | |a Freeman, Randy A. |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Robust nonlinear control design |b state space and Lyapunov techniques |c Randy A. Freeman ; Petar V. Kokotović |
| 264 | 1 | |a Boston, Mass. [u.a.] |b Birkhäuser |c 1996 | |
| 300 | |a XII, 257 S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Systems & control : Foundations & applications | |
| 650 | 7 | |a Commande non linéaire |2 ram | |
| 650 | 4 | |a Doğrusal olmayan kontrol teorisi | |
| 650 | 4 | |a Durum-uzay metotları | |
| 650 | 7 | |a Espace d'état, méthodes de l' |2 ram | |
| 650 | 4 | |a Lyapunov fonksiyonları | |
| 650 | 4 | |a Nonlinear control theory | |
| 650 | 4 | |a State-space methods | |
| 650 | 4 | |a Lyapunov functions | |
| 650 | 0 | 7 | |a Robuste Regelung |0 (DE-588)4206985-3 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Nichtlineares System |0 (DE-588)4042110-7 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Ljapunov-Stabilitätstheorie |0 (DE-588)4167992-1 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Zustandsraum |0 (DE-588)4132647-7 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Nichtlineares System |0 (DE-588)4042110-7 |D s |
| 689 | 0 | 1 | |a Robuste Regelung |0 (DE-588)4206985-3 |D s |
| 689 | 0 | 2 | |a Ljapunov-Stabilitätstheorie |0 (DE-588)4167992-1 |D s |
| 689 | 0 | 3 | |a Zustandsraum |0 (DE-588)4132647-7 |D s |
| 689 | 0 | |5 DE-604 | |
| 700 | 1 | |a Kokotović, Petar V. |d 1934- |e Verfasser |0 (DE-588)112828280 |4 aut | |
| 856 | 4 | 2 | |m HBZ Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007318602&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-007318602 | |
Datensatz im Suchindex
| DE-BY-TUM_call_number | 0838 RT.1266 |
|---|---|
| DE-BY-TUM_katkey | 813862 |
| DE-BY-TUM_location | LSB |
| DE-BY-TUM_media_number | TEMP2884512 |
| _version_ | 1821931021394771968 |
| adam_text | Contents
1 Introduction 1
1.1 A Lyapunov framework for robust control 3
1.2 Inverse optimality in robust stabilization 6
1.3 Recursive Lyapunov design 9
2 Set Valued Maps 15
2.1 Continuity of set valued maps 17
2.1.1 Upper and lower semicontinuity 17
2.1.2 Lipschitz and Hausdorff continuity 19
2.2 Marginal functions 21
2.3 Intersections 23
2.3.1 Continuity of intersections 23
2.3.2 Lipschitz continuity of intersections 24
2.4 Selection theorems 28
2.4.1 Michael s theorem 28
2.4.2 Minimal selections 28
2.4.3 Lipschitz selections 29
2.5 Parameterized maps 30
2.6 Summary 32
3 Robust Control Lyapunov Functions 33
3.1 Nonlinear robust stabilization 35
3.1.1 System description 35
3.1.2 Problem statement 39
3.2 Nonlinear disturbance attenuation 40
3.2.1 Input to state stability 41
3.2.2 Nonlinear small gain theorems 42
3.2.3 Disturbance attenuation vs. robust stabilization . . 43
3.3 Robust control Lyapunov functions 45
3.3.1 Control Lyapunov functions 46
3.3.2 Rclf: general definition 48
3.3.3 Rclf: state feedback for time invariant systems ... 49
x CONTENTS
3.3.4 Rclf: absence of disturbance input 51
3.4 Rclf implies robust stabilizability 53
3.4.1 Small control property 56
3.4.2 Output feedback 58
3.4.3 Locally Lipschitz state feedback 60
3.5 Robust stabilizability implies rclf 61
3.6 Summary 63
4 Inverse Optimality 65
4.1 Optimal stabilization: obstacles and benefits 66
4.1.1 Inverse optimality, sensitivity reduction, and sta¬
bility margins 67
4.1.2 An introductory example 69
4.2 Pointwise min norm control laws 71
4.2.1 General formula 72
4.2.2 Jointly affine systems 75
4.2.3 Feedback linearizable systems 76
4.3 Inverse optimal robust stabilization 78
4.3.1 A preliminary result 78
4.3.2 A differential game formulation 79
4.3.3 Main theorem 81
4.4 Proof of the main theorem 83
4.4.1 Terminology and technical lemmas 83
4.4.2 Construction of the function r 85
4.4.3 Proof of the key proposition 88
4.4.4 Proof of optimality 91
4.5 Extension to finite horizon games 93
4.5.1 A finite horizon differential game 94
4.5.2 Main theorem: finite horizon 95
4.5.3 Proof of the main theorem 96
4.6 Summary 100
5 Robust Backstepping 101
5.1 Lyapunov redesign 103
5.1.1 Matched uncertainty 103
5.1.2 Beyond the matching condition 105
5.2 Recursive Lyapunov design 107
5.2.1 Class of systems: strict feedback form 108
5.2.2 Construction of an rclf 110
5.2.3 Backstepping design procedure 115
5.2.4 A benchmark example 117
5.3 Flattened rclf s for softer control laws 119
CONTENTS xi
5.3.1 Hardening of control laws 119
5.3.2 Flattened rclf s 123
5.3.3 Design example: elimination of chattering 126
5.4 Nonsmooth backstepping 127
5.4.1 Clarke s generalized directional derivative 130
5.4.2 Nonsmooth rclf s 131
5.4.3 Backstepping with nonsmooth nonlinearities .... 132
5.5 Summary 136
6 Measurement Disturbances 137
6.1 Effects of measurement disturbances 138
6.1.1 Loss of global stability 138
6.1.2 Loss of global stabilizability 139
6.2 Design for strict feedback systems 143
6.2.1 Measurement constraint for ISS 143
6.2.2 Backstepping with measurement disturbances . . . 145
6.2.3 Initialization step 148
6.2.4 Recursion step 150
6.2.5 Design procedure and example 157
6.3 Summary 160
7 Dynamic Partial State Feedback 161
7.1 Nonlinear observer paradigm 162
7.1.1 Extended strict feedback systems 162
7.1.2 Assumptions and system structure 163
7.2 Controller design 167
7.2.1 Main result 167
7.2.2 Controller design for n = 1 168
7.2.3 Conceptual controllers and derivatives 172
7.2.4 Backstepping lemma 174
7.2.5 Controller design for n 2 177
7.2.6 Proof of the main result 179
7.3 Design example 180
7.3.1 Truth model and design model 182
7.3.2 Full state feedback design 186
7.3.3 Partial state feedback design 194
7.4 Summary 201
8 Robust Nonlinear PI Control 203
8.1 Problem formulation 204
8.1.1 Class of systems 204
8.1.2 Design objective 206
8.2 Controller design 208
xii CONTENTS
8.2.1 Main result 208
8.2.2 Technical lemma 209
8.2.3 Controller design for r = 1 211
8.2.4 Backstepping construction 215
8.2.5 Controller design for r 2 218
8.2.6 Proof of the main result 222
8.3 Design example 223
8.4 Summary 227
Appendix: Local JC continuity in metric spaces 229
A.I /C continuity 230
A.2 Local /C continuity 233
A.3 CTC continuity 237
Bibliography 241
Index 255
|
| any_adam_object | 1 |
| author | Freeman, Randy A. Kokotović, Petar V. 1934- |
| author_GND | (DE-588)112828280 |
| author_facet | Freeman, Randy A. Kokotović, Petar V. 1934- |
| author_role | aut aut |
| author_sort | Freeman, Randy A. |
| author_variant | r a f ra raf p v k pv pvk |
| building | Verbundindex |
| bvnumber | BV010943513 |
| callnumber-first | Q - Science |
| callnumber-label | QA402 |
| callnumber-raw | QA402.35.F74 1996 |
| callnumber-search | QA402.35.F74 1996 |
| callnumber-sort | QA 3402.35 F74 41996 |
| callnumber-subject | QA - Mathematics |
| classification_rvk | SK 880 |
| classification_tum | MSR 618f MSR 660f |
| ctrlnum | (OCoLC)34722019 (DE-599)BVBBV010943513 |
| dewey-full | 629.8/312 629.8/31220 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8/312 629.8/312 20 |
| dewey-search | 629.8/312 629.8/312 20 |
| dewey-sort | 3629.8 3312 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mathematik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>02466nam a2200637 c 4500</leader><controlfield tag="001">BV010943513</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">20080721 </controlfield><controlfield tag="007">t|</controlfield><controlfield tag="008">960911s1996 xxud||| |||| 00||| eng d</controlfield><datafield tag="016" ind1="7" ind2=" "><subfield code="a">948457104</subfield><subfield code="2">DE-101</subfield></datafield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">0817639306</subfield><subfield code="9">0-8176-3930-6</subfield></datafield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">3764339306</subfield><subfield code="9">3-7643-3930-6</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)34722019</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)BVBBV010943513</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">rakddb</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="044" ind1=" " ind2=" "><subfield code="a">xxu</subfield><subfield code="c">XD-US</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-384</subfield><subfield code="a">DE-91</subfield><subfield code="a">DE-20</subfield><subfield code="a">DE-703</subfield><subfield code="a">DE-706</subfield><subfield code="a">DE-521</subfield><subfield code="a">DE-83</subfield><subfield code="a">DE-29T</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">QA402.35.F74 1996</subfield></datafield><datafield tag="082" ind1="0" ind2=" "><subfield code="a">629.8/312</subfield><subfield code="2">20</subfield></datafield><datafield tag="082" ind1="0" ind2=" "><subfield code="a">629.8/312 20</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">SK 880</subfield><subfield code="0">(DE-625)143266:</subfield><subfield code="2">rvk</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">27</subfield><subfield code="2">sdnb</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">28</subfield><subfield code="2">sdnb</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">MSR 618f</subfield><subfield code="2">stub</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">MSR 660f</subfield><subfield code="2">stub</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">37</subfield><subfield code="2">sdnb</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Freeman, Randy A.</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Robust nonlinear control design</subfield><subfield code="b">state space and Lyapunov techniques</subfield><subfield code="c">Randy A. Freeman ; Petar V. Kokotović</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Boston, Mass. [u.a.]</subfield><subfield code="b">Birkhäuser</subfield><subfield code="c">1996</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">XII, 257 S.</subfield><subfield code="b">graph. Darst.</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="490" ind1="0" ind2=" "><subfield code="a">Systems & control : Foundations & applications</subfield></datafield><datafield tag="650" ind1=" " ind2="7"><subfield code="a">Commande non linéaire</subfield><subfield code="2">ram</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Doğrusal olmayan kontrol teorisi</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Durum-uzay metotları</subfield></datafield><datafield tag="650" ind1=" " ind2="7"><subfield code="a">Espace d'état, méthodes de l'</subfield><subfield code="2">ram</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Lyapunov fonksiyonları</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Nonlinear control theory</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">State-space methods</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Lyapunov functions</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Robuste Regelung</subfield><subfield code="0">(DE-588)4206985-3</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Nichtlineares System</subfield><subfield code="0">(DE-588)4042110-7</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Ljapunov-Stabilitätstheorie</subfield><subfield code="0">(DE-588)4167992-1</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Zustandsraum</subfield><subfield code="0">(DE-588)4132647-7</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Nichtlineares System</subfield><subfield code="0">(DE-588)4042110-7</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Robuste Regelung</subfield><subfield code="0">(DE-588)4206985-3</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="2"><subfield code="a">Ljapunov-Stabilitätstheorie</subfield><subfield code="0">(DE-588)4167992-1</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="3"><subfield code="a">Zustandsraum</subfield><subfield code="0">(DE-588)4132647-7</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="5">DE-604</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Kokotović, Petar V.</subfield><subfield code="d">1934-</subfield><subfield code="e">Verfasser</subfield><subfield code="0">(DE-588)112828280</subfield><subfield code="4">aut</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="m">HBZ Datenaustausch</subfield><subfield code="q">application/pdf</subfield><subfield code="u">http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007318602&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA</subfield><subfield code="3">Inhaltsverzeichnis</subfield></datafield><datafield tag="943" ind1="1" ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-007318602</subfield></datafield></record></collection> |
| id | DE-604.BV010943513 |
| illustrated | Illustrated |
| indexdate | 2024-12-20T10:03:33Z |
| institution | BVB |
| isbn | 0817639306 3764339306 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-007318602 |
| oclc_num | 34722019 |
| open_access_boolean | |
| owner | DE-384 DE-91 DE-BY-TUM DE-20 DE-703 DE-706 DE-521 DE-83 DE-29T |
| owner_facet | DE-384 DE-91 DE-BY-TUM DE-20 DE-703 DE-706 DE-521 DE-83 DE-29T |
| physical | XII, 257 S. graph. Darst. |
| publishDate | 1996 |
| publishDateSearch | 1996 |
| publishDateSort | 1996 |
| publisher | Birkhäuser |
| record_format | marc |
| series2 | Systems & control : Foundations & applications |
| spellingShingle | Freeman, Randy A. Kokotović, Petar V. 1934- Robust nonlinear control design state space and Lyapunov techniques Commande non linéaire ram Doğrusal olmayan kontrol teorisi Durum-uzay metotları Espace d'état, méthodes de l' ram Lyapunov fonksiyonları Nonlinear control theory State-space methods Lyapunov functions Robuste Regelung (DE-588)4206985-3 gnd Nichtlineares System (DE-588)4042110-7 gnd Ljapunov-Stabilitätstheorie (DE-588)4167992-1 gnd Zustandsraum (DE-588)4132647-7 gnd |
| subject_GND | (DE-588)4206985-3 (DE-588)4042110-7 (DE-588)4167992-1 (DE-588)4132647-7 |
| title | Robust nonlinear control design state space and Lyapunov techniques |
| title_auth | Robust nonlinear control design state space and Lyapunov techniques |
| title_exact_search | Robust nonlinear control design state space and Lyapunov techniques |
| title_full | Robust nonlinear control design state space and Lyapunov techniques Randy A. Freeman ; Petar V. Kokotović |
| title_fullStr | Robust nonlinear control design state space and Lyapunov techniques Randy A. Freeman ; Petar V. Kokotović |
| title_full_unstemmed | Robust nonlinear control design state space and Lyapunov techniques Randy A. Freeman ; Petar V. Kokotović |
| title_short | Robust nonlinear control design |
| title_sort | robust nonlinear control design state space and lyapunov techniques |
| title_sub | state space and Lyapunov techniques |
| topic | Commande non linéaire ram Doğrusal olmayan kontrol teorisi Durum-uzay metotları Espace d'état, méthodes de l' ram Lyapunov fonksiyonları Nonlinear control theory State-space methods Lyapunov functions Robuste Regelung (DE-588)4206985-3 gnd Nichtlineares System (DE-588)4042110-7 gnd Ljapunov-Stabilitätstheorie (DE-588)4167992-1 gnd Zustandsraum (DE-588)4132647-7 gnd |
| topic_facet | Commande non linéaire Doğrusal olmayan kontrol teorisi Durum-uzay metotları Espace d'état, méthodes de l' Lyapunov fonksiyonları Nonlinear control theory State-space methods Lyapunov functions Robuste Regelung Nichtlineares System Ljapunov-Stabilitätstheorie Zustandsraum |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007318602&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT freemanrandya robustnonlinearcontroldesignstatespaceandlyapunovtechniques AT kokotovicpetarv robustnonlinearcontroldesignstatespaceandlyapunovtechniques |
Inhaltsverzeichnis
Paper/Kapitel scannen lassen
Paper/Kapitel scannen lassen
Handapparate (nicht verfügbar)
| Signatur: |
0838 RT.1266 Lageplan |
|---|---|
| Exemplar 1 | Dauerhaft ausgeliehen Ausgeliehen |