Preface |
Feedback Control / Chapter 1: |
The Mechanism of Feedback / 1.1: |
Feedback Control Engineering / 1.2: |
Control Theory Background / 1.3: |
Scope and Organization of This Book / 1.4: |
Notes |
References |
State-Space Representation of Dynamic Systems / Chapter 2: |
Mathematical Models / 2.1: |
Physical Notion of System State / 2.2: |
Block-Diagram Representations / 2.3: |
Lagrange's Equations / 2.4: |
Rigid Body Dynamics / 2.5: |
Aerodynamics / 2.6: |
Chemical and Energy Processes / 2.7: |
Problems |
Dynamics of Linear Systems / Chapter 3: |
Differential Equations Revisited / 3.1: |
Solution of Linear Differential Equations in State-Space Form / 3.2: |
Interpretation and Properties of the State-Transition Matrix / 3.3: |
Solution by the Laplace Transform: The Resolvent / 3.4: |
Input-Output Relations: Transfer Functions / 3.5: |
Transformation of State Variables / 3.6: |
State-Space Representation of Transfer Functions: Canonical Forms / 3.7: |
Frequency-Domain Analysis / Chapter 4: |
Status of Frequency-Domain Methods / 4.1: |
Frequency-Domain Characterization of Dynamic Behavior / 4.2: |
Block-Diagram Algebra / 4.3: |
Stability / 4.4: |
Routh-Hurwitz Stability Algorithms / 4.5: |
Graphical Methods / 4.6: |
Steady State Responses: System Type / 4.7: |
Dynamic Response: Bandwidth / 4.8: |
Robustness and Stability (Gain and Phase) Margins / 4.9: |
Multivariable Systems: Nyquist Diagram and Singular Values / 4.10: |
Controllability and Observability / Chapter 5: |
Introduction / 5.1: |
Where Do Uncontrollable or Unobservable Systems Arise? / 5.2: |
Definitions and Conditions for Controllability and Observability / 5.3: |
Algebraic Conditions for Controllability and Observability / 5.4: |
Disturbances and Tracking Systems: Exogenous Variables / 5.5: |
Shaping the Dynamic Response / Chapter 6: |
Design of Regulators for Single-Input, Single-Output Systems / 6.1: |
Multiple-Input Systems / 6.3: |
Where Should the Closed-Loop Poles Be Placed? / 6.4: |
Linear Observers / Chapter 7: |
The Need for Observers / 7.1: |
Structure and Properties of Observers / 7.2: |
Pole-Placement for Single-Output Systems / 7.3: |
Reduced-Order Observers / 7.4: |
Compensator Design by the Separation Principle / Chapter 8: |
The Separation Principle / 8.1: |
Compensators Designed Using Full-Order Observers / 8.2: |
Robustness: Effects of Modeling Errors / 8.3: |
Selecting Observer Dynamics: Robust Observers / 8.5: |
Summary of Design Process / 8.7: |
Linear, Quadratic Optimum Control / Chapter 9: |
Why Optimum Control? / 9.1: |
Formulation of the Optimum Control Problem / 9.2: |
Quadratic Integrals and Matrix Differential Equations / 9.3: |
The Optimum Gain Matrix / 9.4: |
The Steady State Solution / 9.5: |
Disturbances and Reference Inputs: Exogenous Variables / 9.6: |
General Performance Integral / 9.7: |
Weighting of Performance at Terminal Time / 9.8: |
Random Processes / Chapter 10: |
Conceptual Models for Random Processes / 10.1: |
Statistical Characteristics of Random Processes / 10.3: |
Power Spectral Density Function / 10.4: |
White Noise and Linear System Response / 10.5: |
Spectral Factorization / 10.6: |
Systems with State-Space Representation / 10.7: |
The Wiener Process and Other Integrals of Stationary Processes / 10.8: |
Kalman Filters: Optimum Observers / Chapter 11: |
Background / 11.1: |
The Kalman Filter is an Observer / 11.2: |
Kalman Filter Gain and Variance Equations / 11.3: |
Steady State Kalman Filter / 11.4: |
The "Innovations" Process / 11.5: |
Reduced-Order Filters and Correlated Noise / 11.6: |
Stochastic Control: The Separation Theorem / 11.7: |
Choosing Noise for Robust Control / 11.8: |
Matrix Algebra and Analysis / Appendix: |
Bibliography |
Index of Applications |
Index |
Preface |
Feedback Control / Chapter 1: |
The Mechanism of Feedback / 1.1: |