This book emerges from my earlier book Nonlinear Systems, but it is not a fourth edition of it nor a replacement for it. Its mission and organization are different from Nonlinear Systems. While Nonlinear Systems was intended as a reference and a text on nonlinear system analysis and its application to control, this book is intended as a text for a first course on nonlinear control that can be taught in one semester (forty lectures). The writing style is intended to make it accessible to a wider audience without compromising the rigor, which is a characteristic of Nonlinear Systems. Proofs are included only when they are needed to understand the material; otherwise references are given. In a few cases when it is not convenient to find the proofs in the literature, they are included in the Appendix. With the size of this book about half that of Nonlinear Systems, naturally many topics had to be removed. This is not a reflection on the importance of these topics; rather it is my judgement of what should be presented in a first course. Instructors who used Nonlinear Systems may disagree with my decision to exclude certain topics; to them I can only say that those topics are still available in Nonlinear Systems and can be integrated into the course.
Author(s): Khalil H.K.
Publisher: Pearson
Year: 2015
Language: English
Pages: 403
Tags: Автоматизация;Теория автоматического управления (ТАУ);
Khalil H.K.Nonlinear Control, Global Edition (Pearson,2015)(ISBN 1292060506)(600dpi)(403p) ......Page 4
Copyright ......Page 5
Contents 7 ......Page 8
Preface 11 ......Page 12
1.1 Nonlinear Models 13 ......Page 14
1.2 Nonlinear Phenomena 20 ......Page 21
1.3 Overview of the Book 21 ......Page 22
1.4 Exercises 22 ......Page 23
2 Two-Dimensional Systems 27 ......Page 28
2.1 Qualitative Behavior of Linear Systems 29 ......Page 30
2.2 Qualitative Behavior Near Equilibrium Points 33 ......Page 34
2.3 Multiple Equilibria 36 ......Page 37
2.4 Limit Cycles 39 ......Page 40
2.5 Numerical Construction of Phase Portraits 43 ......Page 44
2.6 Exercises 45 ......Page 46
3.1 Basic Concepts 49 ......Page 50
3.2 Linearization 55 ......Page 56
3.3 Lyapunov's Method 57 ......Page 58
3.4 The Invariance Principle 66 ......Page 67
3.5 Exponential Stability 70 ......Page 71
3.6 Region of Attraction 73 ......Page 74
3.7 Converse Lyapunov Theorems 80 ......Page 81
3.8 Exercises 82 ......Page 83
4.1 Time-Varying Systems 87 ......Page 88
4.2 Perturbed Systems 92 ......Page 93
4.3 Boundedness and Ultimate Boundedness 97 ......Page 98
4.4 In put-to-State Stability 106 ......Page 107
4.5 Exercises 111 ......Page 112
5.1 Memoryless Functions 115 ......Page 116
5.2 State Models 119 ......Page 120
5.3 Positive Real Transfer Functions 124 ......Page 125
5.4 Connection with Stability 127 ......Page 128
5.5 Exercises 130 ......Page 131
6.1 C Stability 133 ......Page 134
6.2 C Stability of State Models 139 ......Page 140
6.3 ?2 Gain 144 ......Page 145
6.4 Exercises 149 ......Page 150
7 Stability of Feedback Systems 153 ......Page 154
7.1 Passivity Theorems 154 ......Page 155
7.2 The Small-Gain Theorem 164 ......Page 165
7.3 Absolute Stability 167 ......Page 168
7.3.1 Circle Criterion 169 ......Page 170
7.3.2 Popov Criterion 176 ......Page 177
7.4 Exercises 180 ......Page 181
8.1 Normal Form 183 ......Page 184
8.2 Controller Form 191 ......Page 192
8.3 Observer Form 199 ......Page 200
8.4 Exercises 206 ......Page 207
9.1 Basic Concepts 209 ......Page 210
9.2 Linearization 211 ......Page 212
9.3 Feedback Linearization 213 ......Page 214
9.4 Partial Feedback Linearization 219 ......Page 220
9.5 Backstepping 223 ......Page 224
9.6 Passivity-Based Control 229 ......Page 230
9.7 Control Lyapunov Functions 234 ......Page 235
9.8 Exercises 239 ......Page 240
10 Robust State Feedback Stabilization 243 ......Page 244
10.1 Sliding Mode Control 244 ......Page 245
10.2 Lyapunov Redesign 263 ......Page 264
10.3 High-Gain Feedback 269 ......Page 270
10.4 Exercises 271 ......Page 272
11 Nonlinear Observers 275 ......Page 276
11.1 Local Observers 276 ......Page 277
11.2 The Extended Kalman Filter 278 ......Page 279
11.3 Global Observers 281 ......Page 282
11.4 High-Gain Observers 283 ......Page 284
11.5 Exercises 289 ......Page 290
12 Output Feedback Stabilization 293 ......Page 294
12.1 Linearization 294 ......Page 295
12.2 Passivity-Based Control 295 ......Page 296
12.3 Observer-Based Control 298 ......Page 299
12.4 High-Gain Observers and the Separation Principle 300 ......Page 301
12.5.1 Relative Degree One 308 ......Page 309
12.5.2 Relative Degree Higher Than One 310 ......Page 311
12.6 Exercises 315 ......Page 316
13 Tracking and Regulation 319 ......Page 320
13.1 Tracking 322 ......Page 323
13.2 Robust Tracking 324 ......Page 325
13.3 Transition Between Set Points 326 ......Page 327
13.4 Robust Regulation via Integral Action 330 ......Page 331
13.5 Output Feedback 334 ......Page 335
13.6 Exercises 337 ......Page 338
A.l Pendulum 341 ......Page 342
A.2 Mass-Spring System 343 ......Page 344
A.3 Tunnel-Diode Circuit 345 ......Page 346
A.4 Negative-Resistance Oscillator 347 ......Page 348
A.5 DC-to-DC Power Converter 349 ......Page 350
A.6 Biochemical Reactor 350 ......Page 351
A.7 DC Motor 352 ......Page 353
A.8 Magnetic Levitation 353 ......Page 354
A.9 Electrostatic Microactuator 354 ......Page 355
A.10 Robot Manipulator 356 ......Page 357
A.11 Inverted Pendulum on a Cart 357 ......Page 358
A.12 Translational Oscillator with Rotating Actuator 359 ......Page 360
B Mathematical Review 361 ......Page 362
C.l Cascade Systems 367 ......Page 368
C.2 Interconnected Systems 369 ......Page 370
C.3 Singularly Perturbed Systems 371 ......Page 372
D Proofs 375 ......Page 376
Bibliography 381 ......Page 382
Symbols 392......Page 393
Index 394......Page 395
Errata Sheet For Nonlinear Control 400 ......Page 401
cover......Page 1
back cover......Page 403
