Synopsis
This work provides coverage of the analytical foundations of various aspects of nonlinear systems, including solutions, approximate analysis methods and stability theory from both the Lyapunov and the input-output viewpoints. The book presents the mathematical approach to the study of nonlinear systems; includes coverage of differential geometric methods for nonlinear systems (including recent research findings); covers nonlinear reachability and feedback linearization and both discrete-time and continuous-time systems; and incorporates real examples with applications in robotics, adaptive control and other fields to illustrate the theorums.
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Présentation de l'éditeur
When the first edition of this book was published, most control theorists considered the subject of nonlinear systems a mystery. Since then, advances in the application of differential geometric methods to nonlinear analysis have matured to a stage where every control theorist needs to possess knowledge of the basic techniques. The second edition provides a rigorous mathematical analysis of the behavior of nonlinear control systems under a variety of situations. It develops nonlinear generalizations of a large number of techniques and methods widely used in linear control theory. It contains three extensive chapters devoted to the key topics of Lyapunov stability, input-output stability, and the treatment of differential geometric control theory. Moreover, valuable reference material included in these chapters is unavailable elsewhere. The text also features a large number of problems that allow readers to test their understanding, and self-contained sections and chapters that make particular topics more accessible.
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