Design Methods for Control Systems

Introduction......Page 7
Basic feedback theory......Page 9
Closed-loop stability......Page 17
Stability robustness......Page 26
Frequency response design goals......Page 33
Loop shaping......Page 40
Limits of performance......Page 46
Two-degrees-of-freedom feedback systems......Page 53
Conclusions......Page 57
Appendix: Proofs......Page 58
Introduction......Page 65
Steady state error behavior......Page 66
Integral control......Page 70
Frequency response plots......Page 75
Classical control system design......Page 86
Lead, lag, and lag-lead compensation......Page 88
The root locus approach to parameter selection......Page 94
The Guillemin-Truxal design procedure......Page 96
Quantitative feedback theory (QFT)......Page 99
Concluding remarks......Page 107
Introduction......Page 109
Poles and zeros of multivariable systems......Page 114
MIMO structural requirements and design methods......Page 123
Appendix: Proofs and Derivations......Page 137
Exercises......Page 139
Introduction......Page 141
LQ theory......Page 142
LQG Theory......Page 151
H_2 optimization......Page 158
Feedback system design by H_2 optimization......Page 161
Examples and applications......Page 167
Appendix: Proofs......Page 173
Exercises......Page 184
Introduction......Page 189
Parametric robustness analysis......Page 190
The basic perturbation model......Page 201
The small gain theorem......Page 204
Stability robustness of feedback systems......Page 211
Structured singular value robustness analysis......Page 222
Combined performance and stability robustness......Page 229
Appendix: Proofs......Page 236
Exercises......Page 239
Introduction......Page 245
The mixed sensitivity problem......Page 246
The standard H_ problem......Page 254
Suboptimal solutions and and example......Page 256
State space solution of the standard H_ problem......Page 259
Optimal solutions to the H_ problem......Page 261
Integral control and high-frequency roll-off......Page 264
-Synthesis......Page 272
An application of -synthesis......Page 276
Exercises......Page 287
Basic matrix results......Page 293
Three matrix lemmas......Page 294
Norms of vector-valued signals......Page 297
Singular values of vectors and matrices......Page 298
Norms of linear operators and systems......Page 299
BIBO and internal stability......Page 302
Appendix: Proofs......Page 305
Problems......Page 307
Bibliography......Page 311
Index......Page 321