Design Methods for Control Systems

Introduction......Page 7 Basic feedback theory......Page 9 Closed-loop stability......Page 17 Stability robustness......Page 26 Frequency response design goals......Page 33 Loop shaping......Page 40 Limits of performance......Page 46 Two-degrees-of-freedom feedback systems......Page 53 Conclusions......Page 57 Appendix: Proofs......Page 58 Introduction......Page 65 Steady state error behavior......Page 66 Integral control......Page 70 Frequency response plots......Page 75 Classical control system design......Page 86 Lead, lag, and lag-lead compensation......Page 88 The root locus approach to parameter selection......Page 94 The Guillemin-Truxal design procedure......Page 96 Quantitative feedback theory (QFT)......Page 99 Concluding remarks......Page 107 Introduction......Page 109 Poles and zeros of multivariable systems......Page 114 MIMO structural requirements and design methods......Page 123 Appendix: Proofs and Derivations......Page 137 Exercises......Page 139 Introduction......Page 141 LQ theory......Page 142 LQG Theory......Page 151 H_2 optimization......Page 158 Feedback system design by H_2 optimization......Page 161 Examples and applications......Page 167 Appendix: Proofs......Page 173 Exercises......Page 184 Introduction......Page 189 Parametric robustness analysis......Page 190 The basic perturbation model......Page 201 The small gain theorem......Page 204 Stability robustness of feedback systems......Page 211 Structured singular value robustness analysis......Page 222 Combined performance and stability robustness......Page 229 Appendix: Proofs......Page 236 Exercises......Page 239 Introduction......Page 245 The mixed sensitivity problem......Page 246 The standard H_ problem......Page 254 Suboptimal solutions and and example......Page 256 State space solution of the standard H_ problem......Page 259 Optimal solutions to the H_ problem......Page 261 Integral control and high-frequency roll-off......Page 264 -Synthesis......Page 272 An application of -synthesis......Page 276 Exercises......Page 287 Basic matrix results......Page 293 Three matrix lemmas......Page 294 Norms of vector-valued signals......Page 297 Singular values of vectors and matrices......Page 298 Norms of linear operators and systems......Page 299 BIBO and internal stability......Page 302 Appendix: Proofs......Page 305 Problems......Page 307 Bibliography......Page 311 Index......Page 321