By Alberto Isidori
This e-book makes a speciality of equipment that relate, in a single shape or one other, to the “small-gain theorem”. it's geared toward readers who're attracted to studying equipment for the layout of suggestions legislation for linear and nonlinear multivariable structures within the presence of version uncertainties. With labored examples all through, it contains either introductory fabric and extra complex topics.
Divided into elements, the 1st covers correct points of linear-systems thought, the second one, nonlinear thought. with the intention to deepen readers’ realizing, less complicated single-input–single-output structures mostly precede therapy of extra complicated multi-input–multi-output (MIMO) structures and linear structures precede nonlinear structures. This technique is used all through, together with within the ultimate chapters, which clarify the most recent complicated rules governing the stabilization, legislation, and monitoring of nonlinear MIMO platforms. significant layout difficulties are thought of, either within the presence of version uncertainties: asymptotic stabilization with a “guaranteed zone of allure” of a given equilibrium aspect and asymptotic rejection of the impact of exogenous (disturbance) inputs on chosen regulated outputs.
Much of the introductory educational fabric during this publication has been constructed for instructing scholars, whereas the ultimate assurance of nonlinear MIMO structures deals readers a primary coordinated therapy of thoroughly novel effects. The labored examples awarded give you the teacher with ready-to-use fabric to assist scholars to appreciate the mathematical theory.
Readers could be acquainted with the basics of linear-systems and regulate thought. This e-book is a useful source for college students following postgraduate courses in platforms and regulate, in addition to engineers engaged on the keep an eye on of robot, mechatronic and gear systems.