Nonlinear and Adaptive Control Design
Miroslav Krstic
Ioannis Kanellakopoulos
Petar Kokotovic
John Wiley and Sons, 1995
From Wiley's backcover:
An introduction to the new design
for nonlinear control
systems -- BACKSTEPPING -- written by its own architects.
This innovative book breaks new ground in nonlinear and adaptive
control design for systems with uncertainties. Introducing the
recursive backstepping methodology, it shows -- for the first
time -- how uncertain systems with severe nonlinearities can be
successfully controlled with this new powerful design tool.
Communicative and accessible at a level not usually present in
research texts, "Nonlinear and Adaptive Control Design" can be
used as either a stand-alone or a supplemental text in courses on
nonlinear or adaptive control, as well as in control research and
applications. It eases the reader into the subject matter, assuming
only standard undergraduate knowledge of control theory, and
provides a pedagogical presentation of the material, most of
which is completely new and not available in other textbooks.
Written by the creators of backstepping, the book:
- Introduces the basic design tools and demonstrates their effectiveness
through worked examples
- Provides detailed proofs and application examples (active
suspension, jet engine, induction motor, ...)
- Develops adaptive backstepping, tuning functions, and modular
designs with full state feedback
- Generalizes the methodology to systems with output feedback
- Describes the advantages of the new adaptive nonlinear
techniques over traditional methods
- Offers a systematic methodology for performance improvement
- Provides new designs for linear systems which can be used
independently from the rest of the book
- Is self-contained with an extensive summary of stability and
passivity prerequisites
- Includes sixty illustrations and tables with design algorithms
Table of Contents:
CHAPTER 1 Introduction
PART I STATE FEEDBACK
CHAPTER 2 Design Tools for Stabilization
CHAPTER 3 Adaptive Bacstepping Design
CHAPTER 4 Tuning Functions Design
CHAPTER 5 Modular Designs with Passive Identifiers
CHAPTER 6 Modular Designs with Swapping Identifiers
PART II OUTPUT FEEDBACK
CHAPTER 7 Output-Feedback Design Tools
CHAPTER 8 Tuning Functions Designs
CHAPTER 9 Modular Designs
CHAPTER 10 Linear Systems
APPENDICES
A Lyapunov Stability and Convergence
B Input-Output Stability
C Input-to-State Stability
D Passivity
E Parameter Projection
F Nonlinear Swapping
G Differential Geometric Conditions
Errata
sheet for the first printing.
563 pages, hardcover
ISBN 0-471-12732-9
Price: $84.95
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