Nonlinear Control Systems Design 1995.

Front Cover -- Nonlinear Control Systems Design 1995 -- Copyright Page -- Table of Contents -- Dediction -- PART I: NONLINEAR CONTROL OF CHEMICAL PROCESSES -- CHAPTER 1. ON-LINE UPDATING OF RADIAL BASIS FUNCTION NETWORK MODELS -- 1. INTRODUCTION -- 2. RBFN ADAPTATION -- 3. SIMULATION RESULTS -- 4. CONCLUSIONS -- REFERENCES -- CHAPTER 2. Nonlinear Control of Distributed Parameter Processes with Disturbances -- Abstract. -- 1 Introduction -- 2 Quasi-linear first-order PDEs -- 3 Characteristic index -- 4 Control of hyperbolic PDE systems with disturbances -- Acknowledgement -- References -- CHAPTER 3. CONTROL OF NONLINEAR SYSTEMS SUBJECT TOINPUT CONSTRAINTS -- Abstract. -- 1. Introduction -- 2. Description of the System -- 3. General nonlinear MPC formulation -- 4. Description of the Controllers -- 5. Examples -- 6. REFERENCES -- CHAPTER 4. Stability of model predictive control under perturbations -- 1. Introduction -- 2. Outline of the paper -- 3. Stability results -- 4. Nonlinear model predictive control -- 5. Nonlinear state estimation -- 6. Conclusions -- 7. REFERENCES -- CHAPTER 5. DYNAMIC STATE FEEDBACK IN A CONTINUOUS STIRREDTANK REACTOR -- 1. INTRODUCTION -- 2. CONTROL OF A CSTR MODEL -- 3. SIMULATIONS -- 4. CONCLUSIONS -- 5. REFERENCES -- PART II: STABILITY -- CHAPTER 6. A NEW CRITERION FOR ASYMPTOTIC STABILITY OFNONAUTONOMOUS DIFFERENTIAL EQUATIONS:AN ILLUSTRATIVE EXAMPLE -- 1. INTRODUCTION -- 2. AN ASYMPTOTIC STABILITYCRITERION -- 3. HARMONIC OSCILLATOR WITHTIME-DEPENDENT DAMPING -- 4. CONCLUSIONS -- 5. REFERENCES -- CHAPTER 7. TOWARD A GEOMETRIC APPROACH FOR THE STABILITYANALYSIS OF MULTIVARIABLE SYSTEMS AFFECTED BYPHASE PERTURBATIONS -- 1. INTRODUCTION -- 2. ANALYSIS -- 3. EXAMPLES -- 4. DISCUSSION -- REFERENCES -- CHAPTER 8. A STABILITY RADIUS FOR NONLINEAR DIFFERENTIAL EQUATIONS SUBJECT TO TIME VARYING PERTURBATIONS -- ABSTRACT.

1. Introduction -- 2. Stability and Instability for Perturbed Differential Equations. -- 3. A Stability Radius for Nonlinear Differential Equations -- References -- CHAPTER 9. RESONANCE AND FEEDBACK STABILIZATION -- Abstract -- 1. INTRODUCTION -- 2. RESONANCE -- 3. CONCLUSIONS -- REFERENCES -- CHAPTER 10. NONLINEAR CONTROL DESIGN IN THE FREQUENCY DOMAIN -- Abstract -- 1. INTRODUCTION -- 2. NONLINEAR SYSTEMS IN THE FREQUENCY DOMAIN -- 3. INVERSION OF THE LAPLACE TRANSFORM -- 4. APPLICATION TO CONTROL THEORY -- 5. Conclusions -- 6. REFERENCES -- CHAPTER 11. FEEDBACK STABILIZATION OF BIFURCATION PHENOMENA AND ITSAPPLICATION TO THE CONTROL OF VOLTAGE INSTABILITIES AND COLLAPSE -- ABSTRACT -- 1.Introduction -- 2. A Model of Voltage Collapse -- 3. Normal Forms Analysis of the Power Plant Model -- 4.Resonance Control of Voltage Instabilities -- 5. Discussion and Conclusion -- References -- PART III: IDENTIFICATION AND CONTROL PROBLEMS INCOMPUTER VISION -- CHAPTER 12. Multistage Nonlinear Observer with Application to Vision Based Estimation -- 1. INTRODUCTION -- 2. MULTISTAGE NONLINEAR OBSERVER -- 3. HIGH-GAIN OBSERVERS FOR NONLINEAR SYSTEMS -- 4. MOTION AND RANGE ESTIMATION FOR APOINT MASS FALLING FREELY UNDER GRAVITY -- 5. CONCLUSION -- 6. REFERENCES -- CHAPTER 13. A MODEL FOR BINOCULAR VISION -- 1 Introduction -- 2 A Model for the Motion ofa Single Eye -- 3 The Tracking Problem for Monocular Vision -- 4 Binocular Eye Motion and Tracking -- 5 Monocular and Binocular Observability -- 6 Conclusion -- References -- CHAPTER 14. A Realization Theory for Perspective Systems -- 1. Introduction and Motivation -- 2. The Perspective Realization Problem -- 3. State Space Realization -- 4. A Sketch of the Proof -- 5. A Rescaling Algorithm -- 6. Conclusion -- 7. REFERENCES -- CHAPTER 15. STRUCTURE FROM VISUAL MOTION AS A NONLINEAR OBSERVATION PROBLEM -- 1. INTRODUCTION.

2. UNFEASIBILITY OF THE THE OBSERVER LINEARIZATION -- 3. ALTERNATIVE OBSERVERS -- 4. LOCAL LINEARIZATION-BASEDSTRUCTURE FROM MOTION -- 5. MOTION-INDEPENDENT STRUCTURE ESTIMATION -- 6. EXPERIMENTS -- 7. CONCLUSIONS -- 8. REFERENCES -- PART IV: DECOUPLING -- CHAPTER 16. A new result on almost disturbance decoupling for nonlinear minimum phase systems -- 1 Introduction -- 2 Main result -- References -- CHAPTER 17. COMPLETE INVARIANTS OF NONLINEAR CONTROL SYSTEMS -- 1. INTRODUCTION -- 2. CASCADE STRUCTURE -- 3. FINER STRUCTURE -- 4. CONCLUSION -- REFERENCES -- PART V: ADAPTIVE NONLINEAR CONTROL -- CHAPTER 18. BLOCK BACKSTEPPING FOR ADAPTIVE NONLINEARCONTROL* -- 1. INTRODUCTION -- 2. BLOCK BACKSTEPPING -- 3. ADAPTIVE BLOCK BACKSTEPPING -- 4. BLOCK-STRICT-FEEDBACK SYSTEMS -- REFERENCES -- CHAPTER 19. LYAPUNOV AND ISS FRAMEWORKS FORADAPTIVE NONLINEAR STABILIZATION -- 1. INTRODUCTION -- 2. LYAPUNOV FRAMEWORK -- 3. ISS FRAMEWORK -- 4. CONCLUSIONS -- REFERENCES -- CHAPTER 20. ADAPTIVE TRACKING WITHDISTURBANCE ATTENUATION FOR ACLASS OF NONLINEAR SYSTEMS -- Abstract. -- INTRODUCTION -- MAIN RESULT -- References -- CHAPTER 21. ROBUSTNESS OF KRSTIC'S NEW ADAPTIVE CONTROL SCHEME -- Abstract. -- 1 INTRODUCTION -- 2 TWO WORK EXAMPLES -- 3 SIMULATION RESULTS AND DISCUSSIONS -- 4 CONCLUSIONS -- REFERENCES -- PART VI: OPTIMAL CONTROL -- CHAPTER 22. AGAIN ON TANGENT CONES AND HIGH ORDER MAXIMUMPRINCIPLES -- Abstract -- 1. INTRODUCTION -- 2. NOTATIONS AND DEFINITIONS -- 3. VARIATIONAL CONE -- 4. REFERENCES -- CHAPTER 23. FLOW DIFFERENTIABILITY WITH CONTROLS IN Lp -- Abstract. -- 1. INTRODUCTION -- 2. MAIN RESULTS -- 3. Bounded controls -- 4. REFERENCES -- CHAPTER 24. THE RICCATI EQUATION FOR REGULAR LQ-CONTROLPROBLEMS WITH CONSTRAINTS -- Abstract -- 1. INTRODUCTION -- 2. STATEMENT OF THE PROBLEM ANDMAIN RESULTS -- 3. REFERENCES -- PART VII: HOMOGENEOUS SYSTEMS.

CHAPTER 25. FEEDBACK STABILIZATION OF HOMOGENEOUS POLYNOMIAL SYSTEMS -- Abstract -- 1. INTRODUCTION -- 2. NOTATIONS AND PRELIMINARIES -- 3. STABILIZATION OF ODD HOMOGENEOUS VECTOR FIELDS -- 4. STABILIZATION OF EVEN HOMOGENEOUS VECTOR FIELDS -- 5. REFERENCES -- CHAPTER 26. Zubov Theorem and Domain of Attraction for Controlled Dynamic Systems -- Abstract. -- 1. Introduction -- 2. Domain of attraction -- 3. Homogeneous systems -- 4. REFERENCES -- CHAPTER 27. GEOMETRIC HOMOGENEITY AND STABILIZATION MATTHIAS KAWSKI -- Abstract -- 1. WHY HOMOGENEITY -- 2. TRADITIONAL DILATIONS -- 3. GEOMETRIC HOMOGENEITY -- 4. APPLICATIONS TO STABILITY AND STABILIZATION -- 5. REFERENCES -- CHAPTER 28. Adding an integrator to a non stabilizable homogeneous planarsystem -- Abstract. -- 1. INTRODUCTION -- 2. PRELIMINARIES -- 3. "NON-ATTRACTIVE MODE" AND HOMOGENEOUS STABILIZATION -- 4. "NON-ATTRACTIVE CENTER" AND HOMOGENEOUS SATBILIZATION -- 5. CONCLUSIONS -- 6. REFERENCES -- CHAPTER 29. Stabilizing time-varying feedback -- Abstract -- 1 Introduction -- 2 Time-varying feedback -- 3 Time-varying output feedback -- References -- PART VIII: CHEMICAL PROCESSES -- CHAPTER 30. FEEDBACK LINEARIZING CONTROLLER DESIGN FORCHEMICAL PROCESSES: CHALLENGES AND RECENT ADVANCES -- Abstract. -- 1. INTRODUCTION -- 2. NONLINEAR CHEMICAL PROCESSES -- 3. INPUT-OUTPUT LINEARIZATION -- 4. CONCLUSIONS -- 5. ACKNOWLEDGEMENTS -- 6. REFERENCES -- CHAPTER 31. NONLINEAR PROCESS CONTROL BY A COMBINATION OF EXACT LINEARIZATION AND GAIN SCHEDULING TRAJECTORY CONTROL -- Abstract. -- 1. INTRODUCTION -- 2. BASIC CONCEPTS -- 3. GAIN SCHEDULING TRAJECTORY CONTROL -- 4. EXAMPLE -- 5. CONCLUSIONS -- 6. REFERENCES -- CHAPTER 32. Feedback Stabilization of Non Linear End Milling Process -- Abstract -- 1. Introduction -- 2.CNC Milling System Modelling -- 3.Preliminaries and Definitions.

4.Derivation of Output Feedback Stabilization Control Law(Relative Degree p -1 -- 5. Lyapunov Stability Analysis -- 6.Application Example to Milling Process -- 7. Simulation -- 8.Control Lav Derivation ViaLyapunov Stability Criteria -- 9. Simulation -- 10. Conclusi ons -- References -- CHAPTER 33. Positiveness and Asymptotic Stability of a Double Effect Evaporator -- Abstract -- 1 Introduction* -- 2 The double effect evaporator -- 3 Quasimonotone positive nonlinear systems -- 4 Sign-stability of equilibria -- 5 Application to the double effect evaporator -- 6 Conclusions -- References -- Appendix A -- CHAPTER 34. Nonlinear Dynamic Control of a Non-Minimum-Phase CSTR -- Abstract. -- 1. INTRODUCTION -- 2. NOTATION AND PRELIMINARIES -- 3. BRIEF DESCRIPTION OF PROCESS ANDCONTROL PROBLEM -- 4. ALGEBRAIC ANALYSIS -- 5. STATIC FEEDBACK DESIGN -- 6. CONTROLLER DESIGN VIA APPROXIMATE INPUT-OUTPUT DECOUPLING -- 7. CONCLUSION -- 8. REFERENCES -- PART IX: EXTERNAL STABILITY OF NONLINEAR CONTROL SYSTEMS -- CHAPTER 35. EXTERNAL STABILITY OF NONLINEAR SYSTEMS -- Abstract. -- 1. INTRODUCTION -- 2. DEFINITIONS AND PRELIMINARIES -- 3. LINEAR SYSTEMS -- 4. A NONLINEAR FINITE GAIN PROPERTY -- 5. INTERCONNECTED SYSTEMS -- 6. GENERAL SYSTEMS -- 7. AFFINE SYSTEMS -- 8. REFERENCES -- CHAPTER 36. On Characterizations of Input-to-State Stability with Respect to Compact Sets -- 1. Introduction -- 2. Set Input to State Stability -- 3. ISS-Control Lyapunov Functions -- 4. Appendix -- 5. REFERENCES -- CHAPTER 37. EXAMPLES OF STABILIZATION USING SATURATION: AN INPUT-OUTPUT APPROACH -- Abstract. -- 1. NOTATION -- 2. INTRODUCTION -- 3. BALL AND BEAM WITH FRICTION -- 4. A GENERAL FORMALISM -- 5. PVTOL -- 6. INVERTED PENDULUM ON A CART -- 7. REFERENCES -- CHAPTER 38. OUTPUT FEEDBACK GLOBAL STABILIZATION FOR TRIANGULAR SYSTEMS -- Abstract -- 1. INTRODUCTION -- 2. DYNAMIC STABILIZATION.

3. THE GENERAL CASE-USE OFARTSTEIN'S THEOREM.

The series of IFAC Symposia on Nonlinear Control Systems provides the ideal forum for leading researchers and practitioners who work in the field to discuss and evaluate the latest research and developments. This publication contains the papers presented at the 3rd IFAC Symposium in the series which was held in Tahoe City, California, USA.

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