Nonlinear Control of Engineering Systems

摘要

From the Publisher: Nonlinear Control of Engineering Systems is a research monograph on Lyapunov-based control design and analysis techinques for nonlinear systems. The basic idea is to illustrate how recent Lyapunov-based techniques can be utilized to develop control designs for nonlinear systems including: mechanical systems, electrical systems, robotic systems, aerospace systems, and underactuated systems. The introduction presents: (i) motivation for the Lyapunov-based design and analysis techniques, (ii) an overview of the book, (iii) some simple examples as an aid to the less experienced reader. The book presents a complete and detailed theoretical treatment of the stated control objective, and contains a detailed description of the experimental testbed and the results obtained by implementing the developed control algorithms. The experimental results will serve to complement the theoretical content of the book by: (i) demonstrating the feasibility of implementing complex nonlinear control algorithms with current computational hardware, (ii) guiding the reader towards adapting these techniques to his/her own needs or for further research, and (iii) bridging the gap between theoretical design and analysis and real-time implementation.