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
Order from:
John Wiley and Sons, Inc.
Attn: E. Covington
605 Third Avenue
New York, NY 10158-0012
or
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