Linear Optimal Control

Cover
Title Page
PREFACE
CONTENTS
Part I: INTRODUCTION
    Chapter 1: INTRODUCTION
        1.1 LINEAR OPTIMAL CONTROL
        1.2 ABOUT THIS BOOK IN PARTICULAR
        1.3 PART AND CHAPTER OUTLINE
        REFERENCES
Part II: BASIC THEORY OF THE OPTIMAL REGULATOR
    Chapter 2: THE STANDARD REGULATOR PROBLEM\342\200\224I
        2.1 A REVIEW OF THE REGULATOR PROBLEM
        2.2 THE HAMILTON-JACOBI EQUATION
        2.3 SOLUTION OF THE FINITE-TIME REGULATOR PROBLEM
        REFERENCES
    Chapter 3: THE STANDARD REGULATOR PROBLEM\342\200\224II
        3.1 THE INFINITE-TIME REGULATOR PROBLEM
        3.2 STABILITY OF THE TIME-INVARIANT REGULATOR
        3.3 SUMMARY AND DISCUSSION OF THE REGULATOR PROBLEM RESULTS
        3.4 EXTENSIONS OF THE REGULATOR PROBLEM
        REFERENCES
    Chapter 4: THE REGULATOR WlTH A PRESCRIBED DEGREE OF STABILITY
        4.1 QUALITATIVE STATEMENT OF THE REGULATOR PROBLEM WITH A PRESCRIBED DEGREE OF STABILITY
        4.2 QUANTITATIVE STATEMENT AND SOLUTION OF THE REGULATOR PROBLEM WITH A PRESCRIBED DEGREE OF STABILITY
        4.3 EXTENSIONS OF THE PRECEDING RESULTS
        REFERENCES
Part III: PROPERTIES AND APPLICATION OF THEOPTIMAL REGULATOR
    Chapter 5: PROPERTIES OF REGUfATOR SYSrEMS WITH A CIASSICAL CONTROL INTERPRETATION
        5.1 THE REGULATOR FROM AN ENGINEERING VIEWPOINT
        5.2 SOME FUNDAMENTAL FORMULAS
        5.3 GAIN MARGIN, PHASE MARGIN AND TIME-DELAY TOLERANCE
        5.4 POSITIONING OF THE CLOSED-LOOP SYSTEM POLES
        REFERENCES
    Chapter 6: INSERTION OF NONLINEARITIES IN OPTIMAL REGULATORS
        6.1 TOLERANCE OF NONLINEARITIES IN THE FEEDBACK LOOP
        6.2 RELAY CONTROL SYSTEMS
        6.3 INTRODUCTION OF RELAYS INTO NOMINALLY OPTIMAL SYSTEMS
        REFERENCES
    Chapter 7: SENSITIVITY ASPECTS OF OPTIMAL REGULATORS
        7.1 THE SENSITIVITY PROBLEM
        7.2 SENSITIVITY REDUCTION IN OPTIMAL REGULATORS
        7.3 THE INVERSE REGULATOR PROBLEM
        7.4 FURTHER DISCUSSION OF THE POLE-POSITIONING PROBLEM
        REFERENCES
    Chapter 8: STATE ESTIMATOR DESIGN
        8.1 THE NATURE OF THE STATE ESTIMATION PROBLEM
        8.2 NONSTATISTICAL ESTIMATOR DESIGN WITH FULL ESTIMATOR DIMENSION
        8.3 NONSTATISTICAL ESTIMATOR DESIGN WITH REDUCED ESTIMATOR DYNAMICS
        8.4 STATISTICAL ESTIMATOR DESIGN (THE KALMAN-BUCY FILTER)
        REFERENCES
    Chapter 9: SYSTEM DESIGN USING STATE ESTIMATORS
        9.1 CONTROLLER DESIGN\342\200\224BASIC VERSIONS
        9.2 VARIANTS ON THE BASIC CONTROLLER
        9.3 SIMPLIFICATIONS OF THE CONTROLLER FOR MULTIPLE-OUTPUT, SINGLE-INPUT SYSTEMS
        9.4 THE SEPARATION THEOREM
        REFERENCES
Part IV: EXTENSIONS TO MORE COMPLEX PROBLEMS
    Chapter 10: OPTIMAL LINEAR REGULATORS WITH INPUT DISTURBANCES
        10.1 PROPORTIONAL-PLUS-INTEGRAL FEEDBACK
        10.2 THE REGULATOR PROBLEM WITH DERIVATIVE CONSTRAINTS
        10.3 APPLICATION AND PROPERTIES OF OPTIMAL REGULATORS WHICH INCLUDE INTEGRAL FEEDBACK
        REFERENCES
    Chapter 11: TRACKING SYSTEMS
        11.1 THE PROBLEM OF ACHIEVING A DESIRED TRAJECTORY
        11.2 FINITE-TllUE RESULTS
        11.3 INFINITE-TIME RESULTS
        REFERENCES
    Chapter 12: OPTIMAL REGULATORS WITH DUAL-MODE CONTROL
        12.1 THE BANG-BANG MODE AND LINEAR MODE
        12.2 LINEAR MODE SOLUTIONS TO THE SINGULAR OPTIMAL CONTROL PROBLEM
        12.3 PROPERTIES OF THE DUAL-MODE OPTIMAL REGULATOR
        12.4 OPTIMAL REGULATOR WITH BOUNDS ON THE CONTROL DERIVATIVE
        REFERENCES
    Chapter 13: OPTIMAL LINEAR REGULATORS WITH CONTROLLER CONSTRAINTS
        13.1 FORMULATION OF SPECIFIC OPTIMAL REGULATOR PROBLEMS
        13.2 ANALYTICAL RESULTS AND COMPUTATIONAL ASPECTS
        13.3 PROPERTIES OF OPTIMAL SOLUTIONS
        13.4 DYNAMIC CONTROLLERS
        REFERENCES
    Chapter 14: TWO FURTHER TOPICS
        14.1 DISCRETE TIME SYSTEMS
        14.2 THE INFINITE-TIME REGULATOR PROBLEM FOR TIME-VARYING SYSTEMS
        REFERENCES
Part V: COMPUTATIONAL ASPECTS
    Chapter 15: SOLUTION OF THE RICCATI EQUATION
        15.1 PRELIMINARY REMARKS
        15.2 RICCATI EQUATION SOLUTION WITH THE AID OF A LINEAR DIFFERENTIAL EQUATION
        15.3 STEADY STATE SOLUTION OF THE RICCATI EQUATION
        15.4 APPROXIMATE SOLUTIONS OF HIGH-ORDER RICCATI EQUATIONS VIA SINGULAR PERTURBATION
        REFERENCES
Appendix A: BR!EF REV/EW OF SOME RESULTS OF MATRIX THEORY
    REFERENCES
Appendix B: BRIEF REVIEW OF SEVERAL MAJOR RESULTS OF LINEAR SYSrEM THEORY
    REFERENCES
INDEX