This textbook is
designed for an advanced course in control theory. The purpose of
Chapter 1 is to introduce some results on the stability of dynamic
systems achieved with the Lyapunov theory, and on its use for the
synthesis of nonlinear control laws. The definition of norms and gains
of dynamic systems is reported in Chapter 2 to provide the reader with
the mathematical tools required in the following chapters. Some basic
techniques for the analysis and the control of single-input,
single-output systems are recalled in Chapter 3 to motivate the
introduction, in the following chapters, of synthesis techniques for
multi-input, multi-output systems. The analysis of multivariable
systems, in terms of poles and zeros, manipulation rules of block
diagrams, frequency response, stability of the feedback system, and
static and dynamic performance, are discussed in Chapters 4 and 5. In
Chapter 6 the pole-placement approach for the synthesis of state
feedback control laws and state observers is described. Optimal
control synthesis techniques for continuous-time systems are presented
from Chapter 7 to 10. Specifically, the Linear Quadratic control
method, the Kalman filter and the LQG control are widely described
together with their main properties. These results are extended to the
discrete-time case in Chapter 11. The main algorithms and results of
Model Predictive Control are finally presented in Chapter 12. Some
useful mathematical notions are summarized in the Appendix.
-
Stability
-
Lyapunov theory
-
Multivariable
systems
-
Pole placement
-
State observers
-
Optimal control
-
Linear quadratic
control
-
Kalman filter
-
LQG control
-
Model predictive
control
Prof. Lalo Magni is full
professor at the University of Pavia.
Prof. Riccardo Scattolini
is full professor at the Politecnico of Milano.
[email protected]