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adamy j nonlinear systems controls 2022

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Textbook in PDF format This textbook gives a clear introduction to the theory and application of nonlinear systems and controls. The author introduces and explains the methods of nonlinear control, which are becoming increasingly important in research and industrial applications. The main features of the book are the comprehensive presentation of the theory, excellent comprehensibility, the many example applications, and more than a hundred exercises with solutions. They are illustrated by many color diagrams. This book is aimed at advanced engineering students and engineers in industry. Fundamentals of Nonlinear Systems System Description and System Behavior Linear and Nonlinear Systems System Description and Nonlinear Control Loops Equilibrium Points of Nonlinear Systems Example: Satellite Equilibrium Points of Linear Systems Stability and Asymptotic Stability Exponential Stability of Equilibrium Points Instability of Equilibrium Points Stability in the Case of Variable Input Signals Limit Cycles Sliding Modes Chaos Discrete-Time Systems Solution of Nonlinear Differential Equations Existence of Solutions Numerical Solution and Euler Method Accuracy of the Numerical Solution The Modified Euler Method The Heun and Simpson Methods The Runge-Kutta Methods Adaptation of the Step Size The Adams-Bashforth Methods The Adams-Moulton Predictor-Corrector Method Stability of Numerical Integration Methods Stiff Systems and Their Solutions Exercises Limit Cycles and Stability Criteria The Describing Function Method Idea behind the Method Illustrative Example Characteristic Curves and Their Describing Functions Stability Analysis of Limit Cycles Example: Power-Assisted Steering System Absolute Stability The Concept of Absolute Stability The Popov Criterion and Its Application The Aizerman and Kalman Conjectures Example: Controlling a Ship The Circle Criterion The Tsypkin Criterion for Discrete-Time Systems Lyapunov’s Stability Theory The Concept and the Direct Method Illustrative Example Quadratic Lyapunov Functions Example: Mutualism The Direct Method for Discrete-Time Systems The Indirect Method Determining Exponential Stability Example: Underwater Glider Catchment Regions LaSalle’s Invariance Principle Instability Criterion Passivity and Stability Passive Systems Stability of Passive Systems Passivity of Connected Systems Passivity of Linear Systems Example: Transporting System for Material Webs Positive Real Transfer Functions Equivalence of Positive Realness and Passivity Lossless Hamiltonian Systems Example: Self-Balancing Vehicle Dissipative Hamiltonian Systems Example: Separately Excited Direct-Current Machine Linear Hamiltonian Systems Exercises Controllability and Flatness Controllability Definition of Controllability Global and Local Controllability Proving Controllability Example: Industrial Robot Small-Time Local Controllability of Driftless Systems Example: Motor Vehicle with Trailer Omnidirectional Controllability Example: Steam Generator Flatness Basic Concept and Definition of Flatness The Lie-Bäcklund Transformation Example: VTOL Aircraft Flatness and Controllability Flat Outputs of Linear Systems Verification of Flatness Nonlinear State Transformations Transformations and Transformed System Equations Illustrative Example Example: Park Transformation Determining the Transformation Rule Illustration Using Linear Systems Exercises Nonlinear Control of Linear Systems Control with Anti-Windup The Windup Effect PID Controller with Anti-Windup Element Example: Direct-Current Motor A General Anti-Windup Method Dimensioning the General Anti-Windup Controller Stability Time-Optimal Control Fundamentals and Fel'dbaum’s Theorem Computation of Time-Optimal Controls Example /s Time-Optimal Control of Low-Order Systems Example: Submarine Time-Optimal Pilot Control Variable Structure Control Without Sliding Mode Fundamentals of Variable Structure Control Piecewise Linear Control Example: Ship-to-Shore Gantry Crane Saturation Controllers Basics and Stability Design in Multiple Steps Example: Helicopter Exercises Nonlinear Control of Nonlinear Systems Gain-Scheduling Control Mode of Operation and Design Illustrative Example Example: Solar Power Plant Input-Output Linearization Basic Concept and Nonlinear Controller Canonical Form Nonlinear Controller and Linear Control Loop Example: Magnetic Bearing Plants with Internal Dynamics Design Procedure Example: Lunar Module Input-Output Linearization of General SISO Systems Relative Degree and Internal Dynamics of Linear Systems Control Law for the Linear Case Stability of Internal and Zero Dynamics Input-Output Linearization of MIMO Systems MIMO Control Loops in State-Space Representation Example: Combustion Engine Full-State Linearization Full-State Linearization of SISO Systems Example: Drilling Rig Full-State Linearization of MIMO Systems Flatness of Full-State Linearizable Systems Example: Rocket Feedforward and Feedback Control of Flat Systems Fundamentals Feedforward Controls Using Fictitious Flat Outputs Flatness-Based Feedforward Control of Linear Systems Example: Propulsion-Based Aircraft Control Flatness-Based Feedback Control of Nonlinear Systems Example: Pneumatic Motor Flat Inputs and Their Design Flat Inputs of Linear Systems Example: Economic Market Model Control Lyapunov Functions Fundamentals Control Lyapunov Functions for Linear Systems Control Lyapunov Functions for Control-Affine Systems Illustrative Example Example: Power Plant with Grid Feed-In The Backstepping Method Fundamentals Recursive Scheme for the Controller Design Illustrative Examples Example: Fluid System with Chaotic Behavior Exercises Nonlinear Control of Linear and Nonlinear Systems Model-Based Predictive Control Basics and Functionality Linear Model Predictive Control without Constraints LMPC with Constraints Example: Drainage System Nonlinear Model Predictive Control Example: Evaporation Plant Variable Structure Control with Sliding Mode Basics and Characteristics Design for Linear Plants Dynamics in the Sliding Mode Verification of Robustness Example: DC-to-DC Converter Design for Nonlinear Plants Example: Optical Switch Passivity-Based Control Control of Passive Systems Using Static Controllers Example: Damping of Seismic Building Vibrations Passivation of Non-Passive Linear Systems Passivation of Non-Passive Control-Affine Systems Passivity-Based Control with IDA Example: Paper Machine Fuzzy Control Fuzzification Inference Defuzzification Fuzzy Systems and Fuzzy Controllers Example: Distance Control for Automobiles Exercises Observers for Nonlinear Systems Observability of Nonlinear Systems Definition of Observability Observability of Autonomous Systems Example: Synchronous Generator Observability of General Nonlinear Systems Nonlinear Observability Canonical Form Observability of Control-Affine Systems Canonical Forms and the Canonical Form Observer Luenberger Observers for Nonlinear Control Loops Observer Design Using Linearization Basics and Design Control Loop with Observer Example: Bioreactor The Extended Kalman Filter Kalman Filter for Linear Systems The EKF for Nonlinear Systems Example: Jet Engine High-Gain Observer Concept and Design High-Gain Observers in General Form Example: Chemical Reactor The Case of Control-Affine Systems Exercises Solutions to the Exercises Appendix Proof of the General Circle Criterion Parameters of the Container Crane Control List of Symbols

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