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Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Library of Congress Cataloging-in-Publication Data Control system advanced methods / edited by William S. Levine. -- 2nd ed. p. cm. -- (The electrical engineering handbook series) Includes bibliographical references and index. ISBN 978-1-4200-7364-5 1. Automatic control. I. Levine, W. S. II. Title. III. Series. TJ212.C685 2011 629.8--dc22 2010026367 Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) Contents PrefacetotheSecondEdition ....................................................... xiii Acknowledgments...................................................................xv EditorialBoard.....................................................................xvii Editor...............................................................................xix Contributors........................................................................xxi SECTION I Analysis Methods for MIMO Linear Systems 1 NumericalandComputationalIssuesinLinearControlandSystemTheory.........1-1 A.J.Laub,R.V.Patel,andP.M.VanDooren 2 MultivariablePoles,Zeros,andPole-ZeroCancellations...............................2-1 JoelDouglasandMichaelAthans 3 FundamentalsofLinearTime-VaryingSystems.........................................3-1 EdwardW.Kamen 4 BalancedRealizations,ModelOrderReduction,andtheHankelOperator...........4-1 JacquelienM.A.Scherpen 5 GeometricTheoryofLinearSystems.....................................................5-1 FumioHamano 6 PolynomialandMatrixFractionDescriptions...........................................6-1 DavidF.Delchamps 7 RobustnessAnalysiswithRealParametricUncertainty.................................7-1 RobertoTempoandFrancoBlanchini 8 MIMOFrequencyResponseAnalysisandtheSingularValueDecomposition.......8-1 StephenD.PatekandMichaelAthans 9 StabilityRobustnesstoUnstructuredUncertaintyforLinearTime InvariantSystems...........................................................................9-1 AlanChaoandMichaelAthans 10 Trade-OffsandLimitationsinFeedbackSystems....................................10-1 DouglasP.Looze,JamesS.Freudenberg,JulioH.Braslavsky,andRichardH.Middleton 11 ModelingDeterministicUncertainty..................................................11-1 JörgRaischandBruceFrancis vii (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) viii Contents SECTION II Kalman Filter and Observers 12 LinearSystemsandWhiteNoise.......................................................12-1 WilliamS.Levine 13 KalmanFiltering.........................................................................13-1 MichaelAthans 14 RiccatiEquationsandTheirSolution..................................................14-1 VladimírKuˇcera 15 Observers.................................................................................15-1 BernardFriedland SECTION III Design Methods for MIMO LTI Systems 16 EigenstructureAssignment.............................................................16-1 KennethM.Sobel,EliezerY.Shapiro,andAlbertN.Andry,Jr. 17 LinearQuadraticRegulatorControl...................................................17-1 LeonardLublinandMichaelAthans 18 H2(LQG)andH∞Control............................................................18-1 LeonardLublin,SimonGrocott,andMichaelAthans 19 (cid:2)1RobustControl:Theory,Computation,andDesign...............................19-1 MuntherA.Dahleh 20 TheStructuredSingularValue(μ)Framework.......................................20-1 GaryJ.BalasandAndyPackard 21 AlgebraicDesignMethods..............................................................21-1 VladimírKuˇcera 22 QuantitativeFeedbackTheory(QFT)Technique....................................22-1 ConstantineH.Houpis 23 RobustServomechanismProblem.....................................................23-1 EdwardJ.Davison 24 LinearMatrixInequalitiesinControl..................................................24-1 CarstenSchererandSiepWeiland 25 OptimalControl.........................................................................25-1 FrankL.Lewis 26 DecentralizedControl...................................................................26-1 M.E.SezerandD.D.Šiljak 27 Decoupling...............................................................................27-1 TrevorWilliamsandPanosJ.Antsaklis 28 LinearModelPredictiveControlintheProcessIndustries..........................28-1 JayH.LeeandManfredMorari (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) Contents ix SECTION IV Analysis and Design of Hybrid Systems 29 ComputationofReachSetsforDynamicalSystems..................................29-1 AlexA.KurzhanskiyandPravinVaraiya 30 HybridDynamicalSystems:StabilityandStabilization..............................30-1 HaiLinandPanosJ.Antsaklis 31 OptimalControlofSwitchingSystemsviaEmbeddingintoContinuous OptimalControlProblem..............................................................31-1 ˇ SorinBengea,KasemsakUthaichana,MilosZefran,andRaymondA.DeCarlo SECTION V Adaptive Control 32 AutomaticTuningofPIDControllers.................................................32-1 ToreHägglundandKarlJ.Åström 33 Self-TuningControl.....................................................................33-1 DavidW.Clarke 34 ModelReferenceAdaptiveControl....................................................34-1 PetrosIoannou 35 RobustAdaptiveControl...............................................................35-1 PetrosIoannouandSimoneBaldi 36 IterativeLearningControl..............................................................36-1 DouglasA.Bristow,KiraL.Barton,andAndrewG.Alleyne SECTION VI Analysis and Design of Nonlinear Systems 37 NonlinearZeroDynamics..............................................................37-1 AlbertoIsidoriandChristopherI.Byrnes 38 TheLieBracketandControl...........................................................38-1 V.Jurdjevic 39 TwoTimescaleandAveragingMethods...............................................39-1 HassanK.Khalil 40 VolterraandFliessSeriesExpansionsforNonlinearSystems........................40-1 FrançoiseLamnabhi-Lagarrigue 41 IntegralQuadraticConstraints.........................................................41-1 AlexandreMegretski,UlfT.Jönsson,Chung-YaoKao,andAndersRantzer 42 ControlofNonholonomicandUnderactuatedSystems.............................42-1 KevinM.Lynch,AnthonyM.Bloch,SergeyV.Drakunov,MahmutReyhanoglu, andDmitryZenkov (cid:2) (cid:2)