Nonlinear Control of Engineering Systems

"The text is a reference book which provides both mathematically rigorous theoretical development and the application of various nonlinear, Lyapunov-based techniques to a broad class of practical engineering systems, including mechanical, electrical, robotic, aerospace, and underactuated systems... Each chapter contains an exposition of the necessary mathematical background and is provided with detailed references for further reading. For each of the systems examined, simulation results are presented. The material in the text is intended for readers with a background in undergraduate systems theory and is beneficial for students and practicing research and development engineers in the area of control. Beautifully written, the book includes a wide range of applications making it suitable for an extensive audience." -ZENTRALBLATT MATH

• 1 Introduction.- 1.1 Pitfalls of Linear Control.- 1.2 Lyapunov-Based Control.- 1.3 Summary.- References.- 2 Mechanical Systems.- 2.1 Introduction.- 2.2 Autobalancing Systems.- 2.3 Dynamically Positioned Ships.- 2.4 Euler-Lagrange Systems.- 2.5 Background and Further Reading.- References.- 3 Electric Machines.- 3.1 Introduction.- 3.2 Induction Motor.- 3.3 Switched Reluctance Motor.- 3.4 Active Magnetic Bearings.- 3.5 Background and Further Reading.- References.- 4 Robotic Systems.- 4.1 Introduction.- 4.2 Learning Control Applications.- 4.3 Position and Force Control Applications.- 4.4 Visual Servo Control Application.- 4.5 Background and Further Reading.- References.- 5 Aerospace Systems.- 5.1 Introduction.- 5.2 Attitude Tracking.- 5.3 Energy/Power and Attitude Tracking.- 5.4 Formation Flying.- 5.5 Background and Further Reading.- References.- 6 Underactuated Systems.- 6.1 Introduction.- 6.2 Overhead Crane Systems.- 6.3 VTOL Systems.- 6.4 Satellite Systems.- 6.5 Background and Further Reading.- References.- Appendices.- A Mathematical Background.- References.- B Supplementary Lemmas and Definitions.- B.1 Chapter 2 Lemmas.- B.l.1 Convolution Operations for Torque Filtering.- B.1.2 Control Signal Bound.- B.1.3 Control Signal Bound.- B.1.4 Control Signal Bound.- B.1.5 Inequality Proofs.- B.1.6 Control Signal Bounds.- B.1.7 Matrix Property.- B.2 Chapter 3 Definitions and Lemmas.- B.2.1 Supplemental Definitions.- B.2.2 Stability Analysis for Projection Cases.- B.2.3 Dynamic Terms for a 6-DOF AMB System.- B.2.4 Partial Derivative Definitions.- B.3 Chapter 4 Lemmas.- B.3.1 Inequality Lemma.- B.3.2 Stability Analysis for Projection Cases.- B.3.3 Boundedness Lemma.- B.3.4 State-Dependent Disturbance Bound.- B.3.5 Matrix Property.- B.4 Chapter 5 Lemmas.- B.4.1 Skew-Symmetry Property.- B.4.2 Control Signal Bound.- B.5 Chapter 6 Definitions and Lemmas.- B.5.1 Definitions for Dynamic Terms.- B.5.2 Linear Control Law Analysis.- B.5.3 Coupling Control Law Analysis.- B.5.4 Matrix Property.- References.