Preface |
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xi | |
I System Classes |
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1 | (108) |
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3 | (34) |
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3 | (3) |
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1.2 Time, physical principles, and systems |
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6 | (2) |
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1.3 Notational preliminaries |
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8 | (4) |
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1.4 Compact, simple, and elegant calculus |
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12 | (1) |
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1.5 Time and system behavior |
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13 | (9) |
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22 | (4) |
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1.7 System transfer function matrices |
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26 | (2) |
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1.8 Full block diagrams: control systems |
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28 | (7) |
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1.8.1 Full block diagrams |
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28 | (2) |
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1.8.2 Fcs(s) of the open loop control system |
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30 | (2) |
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1.8.3 Fcs(s) of the closed loop control system |
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32 | (2) |
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1.8.4 Fcs(s) of the combined loops control system |
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34 | (1) |
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1.9 Matrix functions and polynomials |
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35 | (2) |
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37 | (16) |
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2.1 IO system mathematical model |
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37 | (9) |
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37 | (3) |
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40 | (6) |
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2.2 IO plant desired regime |
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46 | (3) |
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2.3 IO feedback controller |
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49 | (2) |
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49 | (1) |
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49 | (2) |
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51 | (2) |
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53 | (12) |
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3.1 ISO system mathematical model |
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53 | (5) |
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53 | (2) |
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55 | (3) |
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3.2 ISO plant desired regime |
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58 | (2) |
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3.3 ISO feedback controller |
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60 | (2) |
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60 | (1) |
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60 | (2) |
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62 | (3) |
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65 | (18) |
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4.1 EISO system mathematical model |
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65 | (12) |
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65 | (4) |
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69 | (8) |
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4.2 EISO plant desired regime |
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77 | (1) |
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4.3 EISO feedback controller |
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78 | (4) |
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78 | (1) |
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79 | (3) |
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82 | (1) |
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83 | (12) |
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5.1 HISO system mathematical model |
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83 | (6) |
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83 | (1) |
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84 | (5) |
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5.2 The HISO plant desired regime |
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89 | (2) |
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5.3 HISO feedback controller |
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91 | (3) |
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91 | (1) |
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91 | (3) |
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94 | (1) |
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95 | (14) |
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6.1 IIO system mathematical model |
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95 | (7) |
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95 | (2) |
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97 | (5) |
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6.2 IIO plant desired regime |
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102 | (2) |
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6.3 IIO feedback controller |
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104 | (4) |
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104 | (1) |
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105 | (3) |
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108 | (1) |
II Tracking |
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109 | (40) |
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7 Fundamental control principle |
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111 | (2) |
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111 | (1) |
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7.2 Control perpetuum mobile |
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112 | (1) |
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113 | (36) |
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8.1 Control goal and tracking concepts |
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113 | (4) |
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8.1.1 Control purpose and tracking |
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113 | (1) |
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8.1.2 Basic tracking meaning |
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114 | (3) |
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117 | (2) |
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8.3 Imperfect infinite-time tracking |
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119 | (12) |
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119 | (1) |
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8.3.2 Tracking in the Lyapunov sense |
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119 | (2) |
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8.3.3 Tracking versus stability |
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121 | (1) |
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8.3.4 Stablewise tracking in general |
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122 | (7) |
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8.3.5 Exponential tracking |
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129 | (2) |
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8.4 Tracking with finite reachability time |
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131 | (1) |
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8.5 Finite scalar reachability time |
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131 | (6) |
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8.6 Finite vector reachability time |
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137 | (12) |
III Trackability |
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149 | (74) |
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9 Trackability fundamentals |
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151 | (16) |
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9.1 Trackability of a plant and its regime |
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151 | (1) |
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9.2 Trackability versus controllability |
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152 | (1) |
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9.3 Tracking demands trackability |
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153 | (1) |
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9.4 Perfect trackability: various types |
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153 | (6) |
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9.4.1 Perfect and elementwise perfect trackability |
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153 | (3) |
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9.4.2 Trackability and nature |
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156 | (1) |
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9.4.3 Perfect and elementwise perfect natural trackability |
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157 | (2) |
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9.5 Imperfect trackability: various types |
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159 | (8) |
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9.5.1 Imperfect trackability |
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159 | (2) |
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9.5.2 Imperfect natural trackability |
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161 | (2) |
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9.5.3 Elementwise trackability |
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163 | (1) |
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9.5.4 Elementwise natural trackability |
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164 | (3) |
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10 Various systems trackability |
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167 | (56) |
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10.1 IO system trackability |
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167 | (14) |
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10.1.1 Perfect trackability criteria |
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167 | (6) |
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10.1.2 Conditions for perfect natural trackability |
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173 | (2) |
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10.1.3 Imperfect trackability criteria |
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175 | (3) |
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10.1.4 Conditions for natural trackability |
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178 | (3) |
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10.2 ISO system trackability |
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181 | (11) |
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10.2.1 Perfect trackability criteria |
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181 | (4) |
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10.2.2 Conditions for perfect natural trackability |
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185 | (1) |
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10.2.3 Imperfect trackability criteria |
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186 | (3) |
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10.2.4 Conditions for imperfect natural trackability |
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189 | (3) |
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10.3 EISO system trackability |
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192 | (10) |
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10.3.1 Perfect trackability criteria |
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192 | (1) |
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10.3.2 Conditions for perfect trackability |
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193 | (2) |
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10.3.3 Conditions for perfect natural trackability |
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195 | (2) |
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10.3.4 Imperfect trackability criteria |
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197 | (3) |
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10.3.5 Conditions for natural trackability |
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200 | (2) |
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10.4 HISO system trackability |
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202 | (10) |
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10.4.1 Perfect trackability criteria |
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202 | (3) |
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10.4.2 Conditions for perfect natural trackability |
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205 | (2) |
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10.4.3 Imperfect trackability criteria |
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207 | (2) |
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10.4.4 Conditions for imperfect natural trackability |
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209 | (3) |
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10.5 IIO system trackability |
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212 | (13) |
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10.5.1 Perfect trackability criteria |
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212 | (3) |
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10.5.2 Conditions for perfect natural trackability |
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215 | (1) |
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10.5.3 Imperfect trackability criteria |
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216 | (3) |
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10.5.4 Conditions for imperfect natural trackability |
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219 | (4) |
IV Tracking Control |
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223 | (62) |
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11 Linear tracking control (LiTC) |
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225 | (12) |
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11.1 Common systems descriptions |
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225 | (12) |
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11.1.1 Plants descriptions |
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225 | (1) |
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11.1.2 Controllers descriptions |
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226 | (1) |
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11.1.3 Control systems descriptions |
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227 | (5) |
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11.1.4 Generating theorem |
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232 | (1) |
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11.1.5 Tracking conditions and control |
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233 | (4) |
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12 Lyapunov Tracking Control (LyTC) |
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237 | (20) |
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12.1 General form of the linear systems |
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237 | (5) |
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237 | (1) |
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12.1.2 EISO form of the IO systems |
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238 | (1) |
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12.1.3 EISO form of the ISO systems |
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238 | (1) |
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12.1.4 EISO form of the EISO systems |
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238 | (1) |
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12.1.5 EISO form of the HISO systems |
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238 | (2) |
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12.1.6 EISO form of the IIO systems |
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240 | (2) |
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12.2 Lyapunov tracking theory basis |
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242 | (15) |
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12.2.1 Lyapunov matrix theorem |
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242 | (2) |
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12.2.2 Arbitrary scalar Lyapunov function |
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244 | (3) |
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12.2.3 Quadratic form as a Lyapunov function |
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247 | (2) |
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12.2.4 Introduction to VLF concept |
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249 | (1) |
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12.2.5 Definitions of VLFs |
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250 | (2) |
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12.2.6 VLF generalization of the classical stability theorems |
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252 | (1) |
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253 | (1) |
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12.2.8 Choice of a vector Lyapunov function |
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254 | (3) |
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13 Natural Tracking Control (NTC) |
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257 | (28) |
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13.1 High quality tracking criteria |
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257 | (13) |
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13.1.1 Time vectors and time sets |
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257 | (1) |
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13.1.2 Subsidiary reference output |
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257 | (4) |
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13.1.3 Tracking quality criterion |
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261 | (9) |
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13.2 NTC concept and definition |
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270 | (2) |
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13.3 NTC origin and development |
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272 | (1) |
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13.4 NTC of linear systems |
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273 | (14) |
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13.4.1 General consideration |
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273 | (7) |
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13.4.2 Control synthesis for specific tracking qualities |
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280 | (5) |
V Appendix |
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285 | (80) |
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287 | (18) |
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287 | (1) |
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288 | (1) |
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288 | (1) |
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288 | (1) |
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289 | (12) |
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A.3.1 Calligraphic Letters |
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289 | (1) |
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290 | (3) |
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293 | (1) |
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294 | (7) |
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301 | (1) |
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A.5 Symbols, vectors, sets, and matrices |
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301 | (3) |
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304 | (1) |
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305 | (10) |
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B.1 Equivalent tracking definitions |
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305 | (4) |
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B.1.1 Equivalent imperfect tracking definitions |
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305 | (3) |
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B.1.2 Equivalent exponential tracking definition |
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308 | (1) |
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B.2 Equivalent trackability definitions |
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309 | (6) |
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B.2.1 Equivalent definitions of perfect trackability |
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309 | (1) |
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B.2.2 Equivalent definition of imperfect trackability |
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310 | (1) |
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B.2.3 Equivalent definition of natural trackability |
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311 | (1) |
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B.2.4 Equivalent definition of elementwise trackability |
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312 | (1) |
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B.2.5 Elementwise natural trackability |
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313 | (2) |
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315 | (2) |
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C.1 Example of f(.)-function |
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315 | (2) |
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317 | (10) |
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317 | (3) |
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320 | (4) |
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324 | (3) |
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327 | (38) |
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E.1 Transformation of IO into ISO system |
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327 | (2) |
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E.2 ISO and EISO forms of IIO system |
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329 | (36) |
VI Index |
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365 | (2) |
Author Index |
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367 | (2) |
Subject Index |
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369 | |