Dissipative Systems Analysis and Control

Theory and Applications

Bernard Brogliato, Rogelio Lozano, Bernhard Maschke, Olav Egeland - Collection Communications and Control Engineering

576 pages, parution le 01/02/2007 (2^eme édition)

Ajouter à une liste

Indisponible

Résumé

Many important physical systems have input-output properties related to the conservation, dissipation and transport of energy. The theory surrounding such "dissipative properties" may be used as a framework for the design and analysis of control systems. The consideration of dissipativity is useful - and may be indispensable - for control applications like robotics, active vibration damping and circuit theory and for some control techniques themselves: adaptive, nonlinear-H-infinity , and inverse-optimal control among them.

Dissipative Systems Analysis and Control (second edition) presents a fully revised and expanded treatment of dissipative systems theory, constituting a self-contained, advanced introduction for graduate students, researchers and practising engineers. It examines linear and nonlinear systems with examples of both in each chapter; some infinite-dimensional and nonsmooth examples are also included. Throughout, emphasis is placed on the use of the dissipative properties of a system for the design of stable feedback control laws. The theory is consistently substantiated by experimental results and by reference to its application in illustrative physical cases (Lagrangian and Hamiltonian systems and passivity-based and adaptive controllers are covered thoroughly).

The second edition is substantially reorganized both to accommodate new material and to enhance its pedagogical properties. Some of the changes introduced are:

Complete proofs of the main theorems and lemmas.
The Kalman-Yakubovich-Popov Lemma for non-minimal realizations, singular systems, and discrete-time systems (linear and nonlinear).
Passivity of nonsmooth systems (differential inclusions, variational inequalities, Lagrangian systems with complementarity conditions).
Sections on optimal control and H-infinity theory.
An enlarged bibliography with more than 550 references, and an augmented index with more than 500 entries.
An improved appendix with introductions to viscosity solutions, Riccati equations and some useful matrix algebra.

Sommaire

Introduction
Positive Real Systems
Kalman-Yakubovich-Popov Lemma
Dissipative Systems
Stability of Dissipative Systems
Dissipative Physical Systems
Passivity-based Control
Adaptive Control
Experimental Results
Appendix: Lyapunov Stability, Differential Geometry Theory and Basic Convex Analysis Tools

Voir tout

Replier

Caractéristiques techniques

	PAPIER
Éditeur(s)	Springer
Auteur(s)	Bernard Brogliato, Rogelio Lozano, Bernhard Maschke, Olav Egeland
Collection	Communications and Control Engineering
Parution	01/02/2007
Édition	2^eme édition
Nb. de pages	576
Format	16,5 x 24
Couverture	Relié
Poids	1000g
Intérieur	Noir et Blanc
EAN13	9781846285165
ISBN13	978-1-84628-516-5