| Bifurcation Problems | p. 1 |
| Controlling an Inverted Pendulum with Bounded Controls | p. 3 |
| Introduction | p. 3 |
| Description of the system | p. 4 |
| Bounded control law | p. 5 |
| Local nonlinear analysis | p. 7 |
| Numerical analysis of the global dynamical behavior | p. 8 |
| Desired operating behaviour | p. 14 |
| Conclusions | p. 15 |
| References | p. 16 |
| Bifurcations of Neural Networks with Almost Symmetric Interconnection Matrices | p. 17 |
| Introduction | p. 17 |
| Neural network model and preliminaries | p. 19 |
| Limit cycles in a competitive neural network | p. 23 |
| Hopf bifurcations in sigmoidal neural networks | p. 26 |
| Period-doubling bifurcations in a third-order neural network | p. 30 |
| Conclusion | p. 32 |
| References | p. 32 |
| Bifurcations in Systems with a Rate Limiter | p. 37 |
| Introduction | p. 37 |
| Behaviour of rate limiters | p. 38 |
| Describing function of rate limiters | p. 41 |
| Limit cycle analysis of systems with rate limiters | p. 42 |
| Bifurcations in systems with a rate limiter | p. 43 |
| Conclusions | p. 49 |
| References | p. 50 |
| Monitoring and Control of Bifurcations Using Probe Signals | p. 51 |
| Introduction | p. 51 |
| Hopf bifurcation | p. 52 |
| Analysis of the effects of near-resonant forcing | p. 54 |
| Numerical example | p. 57 |
| Combined Stability Monitoring and Control | p. 58 |
| Detection of Impending Bifurcation in a Power System Model | p. 60 |
| Conclusions | p. 64 |
| References | p. 64 |
| Normal Form, Invariants, and Bifurcations of Nonlinear Control Systems in the Particle Deflection Plane | p. 67 |
| Introduction | p. 67 |
| Problem formulation | p. 68 |
| Normal form and invariants | p. 70 |
| Bifurcation of control systems | p. 75 |
| Bifurcation control using state feedback | p. 77 |
| The cusp bifurcation and hysteresis | p. 81 |
| Other related issues | p. 83 |
| Conclusions | p. 84 |
| References | p. 85 |
| Bifurcations of Reachable Sets Near an Abnormal Direction and Consequences | p. 89 |
| Setup and definitions | p. 89 |
| Asymptotics of the reachable sets | p. 91 |
| Applications | p. 94 |
| References | p. 98 |
| Stabilization and Robustness101 | |
| Oscillation Control in Delayed Feedback Systems | p. 103 |
| Introduction | p. 103 |
| Perturbations of linear retarded equations | p. 105 |
| The harmonic oscillator under delayed feedback | p. 106 |
| Controlling the amplitude and frequency of oscillations | p. 111 |
| Conclusion | p. 115 |
| References | p. 115 |
| Nonlinear Problems in Friction Compensation | p. 117 |
| Introduction | p. 117 |
| Conic analysis of uncertain friction | p. 121 |
| Harmonic balance | p. 124 |
| Frequencial synthesis using QFT | p. 127 |
| Discussion | p. 128 |
| References | p. 129 |
| Time-Optimal Stabilization for a Third-Order Integrator: a Robust State-Feedback Implementation | p. 131 |
| Introduction | p. 131 |
| Closed loop time-optimal stabilization for a third-order integrator | p. 133 |
| Sliding-mode implementation of the time-optimal controller | p. 137 |
| Simulation results | p. 141 |
| Conclusions | p. 143 |
| References | p. 144 |
| Stability Analysis of Periodic Solutions via Integral Quadratic Constraints | p. 145 |
| Introduction | p. 145 |
| A motivating example | p. 146 |
| Problem formulation and preliminary results | p. 148 |
| Sufficient conditions for stability of periodic solutions | p. 151 |
| Application example | p. 154 |
| Conclusions | p. 156 |
| References | p. 156 |
| Port Controller Hamiltonian Synthesis Using Evolution Strategies | p. 159 |
| Introduction | p. 159 |
| Port controlled Hamiltonian systems | p. 160 |
| Controller design | p. 160 |
| Preliminaries on evolution strategies | p. 162 |
| Evolutionary formulation | p. 165 |
| Case study - ball & beam system | p. 167 |
| Conclusions | p. 169 |
| References | p. 170 |
| Feedback Stabilization and HOQ Control of Nonlinear Systems Affected by Disturbances: the Differential Games Approach | p. 173 |
| Introduction | p. 173 |
| Differential games approach to nonlinear Hoo control | p. 175 |
| Other stability questions | p. 181 |
| Building a feedback solution for nonlinear Hoo control | p. 182 |
| References | p. 188 |
| A Linearization Principle for Robustness with Respect to Time-Varying Perturbations | p. 191 |
| Introduction | p. 191 |
| Preliminaries192 | |
| The discrete time case | p. 195 |
| Continuous time | p. 197 |
| Conclusion199 | |
| References | p. 200 |
| Global Dynamics of Control Systems | p. 201 |
| On Constrained Dynamical Systems and Algebroids | p. 203 |
| Introduction: Constrained Hamiltonian systems | p. 203 |
| What is a Lie algebroid? | p. 205 |
| Dirac structures and Port Controlled Hamiltonian systems | p. 208 |
| Constrained mechanical systems and algebroids | p. 213 |
| Control of constrained mechanical systems | p. 214 |
| References | p. 216 |
| On the Classification of Control Sets | p. 217 |
| Introduction | p. 217 |
| Basic definitions | p. 218 |
| Strong inner pairs | p. 219 |
| The dynamic index | p. 221 |
| The index of a control set near a periodic orbit | p. 224 |
| References | p. 230 |
| On the Frequency Theorem for Nonperiodic Systems | p. 233 |
| Introduction | p. 233 |
| Nonautonomous Hamiltonian systems | p. 235 |
| Generalization of Yakubovich's theorem | p. 238 |
| References | p. 240 |
| Longtime Dynamics in Adaptive Gain Control Systems | p. 241 |
| Introduction | p. 241 |
| Assumptions and preliminaries | p. 242 |
| Localization of the global attractor | p. 245 |
| Longtime behavior and estimates of the Hausdorff dimension of the global attractor | p. 248 |
| References | p. 253 |
| Model Reduction for Systems with Low-Dimensional Chaos | p. 255 |
| Introduction | p. 255 |
| Peak-to-peak dynamics | p. 256 |
| The control problem | p. 260 |
| Examples of application | p. 261 |
| Delay-differential systems | p. 263 |
| Concluding remarks | p. 265 |
| References | p. 267 |
| Feedback Equivalence to Feedforward Forms for Nonlinear Single-Input Control Systems | p. 269 |
| Introduction | p. 269 |
| Definitions and notations | p. 271 |
| Feedforward normal form | p. 274 |
| m-invariants | p. 275 |
| Main results | p. 276 |
| Examples | p. 281 |
| Feedforward systems in E4 | p. 283 |
| References | p. 285 |
| Conservation Laws in Optimal Control | p. 287 |
| Introduction | p. 287 |
| Preliminaries | p. 289 |
| Main results | p. 291 |
| Examples | p. 294 |
| References | p. 295 |
| List of Participants | p. 297 |
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