Mathematical Methods for Robust and Nonlinear Control EPSRC Summer S
The underlying theory on which much modern robust and nonlinear control is based can often be dif?cult for the student to grasp. In particular, the mathematical - pects can be problematic for students from a standard engineering background. The EPSRC spon
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Matthew C. Turner, Declan G. Bates (Eds.)
Mathematical Methods for Robust and Nonlinear Control EPSRC Summer School
ABC
Series Advisory Board F. Allgöwer, P. Fleming, P. Kokotovic, A.B. Kurzhanski, H. Kwakernaak, A. Rantzer, J.N. Tsitsiklis
Editors Matthew C. Turner Department of Engineering University of Leicester University Road LE1 7RH Leicester UK Email: [email protected]
Declan G. Bates Department of Engineering University of Leicester University Road LE1 7RH Leicester UK Email: [email protected]
Library of Congress Control Number: 2007932607 ISSN print edition: 0170-8643 ISSN electronic edition: 1610-7411 ISBN-10 1-84800-024-3 Springer Berlin Heidelberg New York ISBN-13 978-1-84800-024-7 Springer Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German Copyright Law. Springer is a part of Springer Science+Business Media springer.com c Springer-Verlag Berlin Heidelberg 2007 MATLAB and Simulink are registered trademarks of The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA 01760-2098, U.S.A. http://www.mathworks.com and Scilab is a trademark of INRIA, Domaine de c 1989Voluceau, Rocquencourt - B.P. 105, 78153 Le Chesnay cedex, France. www.scilab.org Copyright 2007. INRIA. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: by the authors and SPS using a Springer LATEX macro package Printed on acid-free paper
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Preface
The underlying theory on which much modern robust and nonlinear control is based can often be difficult for the student to grasp. In particular, the mathematical aspects can be problematic for students from a standard engineering background. The EPSRC sponsored Summer School which was held in Leicester in September 2006 attempted to “fill the gap” in students’ appreciation the theory relevant to several important areas of control. This book is a collection of lecture notes which were presented at that workshop and consists of, broadly, two parts. The first nine chapters are devoted to the theory behind several areas of robust and nonlinear control and are aimed at introducing fundamental concepts to the reader. The last six chapters contain detailed case studies which aim to demonstrate the use and effectiveness of these modern techniques in real engineering applications. It is hoped that this book w
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