Robust Control Design

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 H₂ Control.

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 Physical Systems.

References and Bibliography.

Index.