High Performance Control

1 Performance Enhancement.- 1.1 Introduction.- 1.2 Beyond Classical Control.- 1.3 Robustness and Performance.- 1.4 Implementation Aspects and Case Studies.- 1.5 Book Outline.- 1.6 Study Guide.- 1.7 Main Points of Chapter.- 1.8 Notes and References.- 2 Stabilizing Controllers.- 2.1 Introduction.- 2.2 The Nominal Plant Model.- 2.3 The Stabilizing Controller.- 2.4 Coprime Factorization.- 2.5 All Stabilizing Feedback Controllers.- 2.6 All Stabilizing Regulators.- 2.7 Notes and References.- 3 Design Environment.- 3.1 Introduction.- 3.2 Signals and Disturbances.- 3.3 Plant Uncertainties.- 3.4 Plants Stabilized by a Controller.- 3.5 State Space Representation.- 3.6 Notes and References.- 4 Off-line Controller Design.- 4.1 Introduction.- 4.2 Selection of Performance Index.- 4.3 An LQG/LTR Design.- 4.4 H? Optimal Design.- 4.5 An ?1 Design Approach.- 4.6 Notes and References.- 5 Iterated and Nested (Q, S) Design.- 5.1 Introduction.- 5.2 Iterated (Q, S) Design.- 5.3 Nested (Q, S) Design.- 5.4 Notes and References.- 6 Direct Adaptive- Q Control.- 6.1 Introduction.- 6.2 Q-Augmented Controller Structure: Ideal Model Case.- 6.3 Adaptive-Q Algorithm.- 6.4 Analysis of the Adaptive-Q Algorithm. Ideal Case.- 6.5 Q-augmented Controller Structure: Plant-model Mismatch.- 6.6 Adaptive Algorithm.- 6.7 Analysis of the Adaptive-Q Algorithm: Unmodeled Dynamics Situation.- 6.8 Notes and References.- 7 Indirect (Q, S) Adaptive Control.- 7.1 Introduction.- 7.2 System Description and Control Problem Formulation.- 7.3 Adaptive Algorithms.- 7.4 Adaptive Algorithm Analysis: Ideal case.- 7.5 Adaptive Algorithm Analysis: Nonideal Case.- 7.6 Notes and References.- 8 Adaptive-Q Application to Nonlinear Systems.- 8.1 Introduction.- 8.2 Adaptive-Q Method for Nonlinear Control.- 8.3 Stability Properties.- 8.4 Learning-Q Schemes.- 8.5 Notes and References.- 9 Real-time Implementation.- 9.1 Introduction.- 9.2 Algorithms for Continuous-time Plant.- 9.3 Hardware Platform.- 9.4 Software Platform.- 9.5 Other Issues.- 9.6 Notes and References.- 10 Laboratory Case Studies.- 10.1 Introduction.- 10.2 Control of Hard-disk Drives.- 10.3 Control of a Heat Exchanger.- 10.4 Aerospace Resonance Suppression.- 10.5 Notes and References.- A Linear Algebra.- A.1 Matrices and Vectors.- A.2 Addition and Multiplication of Matrices.- A.3 Determinant and Rank of a Matrix.- A.4 Range Space, Kernel and Inverses.- A.5 Eigenvalues, Eigenvectors and Trace.- A.6 Similar Matrices.- A.7 Positive Definite Matrices and Matrix Decompositions.- A.8 Norms of Vectors and Matrices.- A.9 Differentiation and Integration.- A.10 Lemma of Lyapunov.- A.11 Vector Spaces and Subspaces.- A.12 Basis and Dimension.- A.13 Mappings and Linear Mappings.- B Dynamical Systems.- B.1 Linear Dynamical Systems.- B.2 Norms, Spaces and Stability Concepts.- B.3 Nonlinear Systems Stability.- C Averaging Analysis For Adaptive Systems.- C.1 Introduction.- C.2 Averaging.- C.3 Transforming an adaptive system into standard form.- C.4 Averaging Approximation.- References.