a course in robust control theory (geir e. dullerud)

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1、ThisispageiPrinter:OpaquethisACourseinRobustControlTheoryaconvexapproachGeirE.DullerudFernandoG.PaganiniUniversityofIllinoisUniversityofCaliforniaUrbana-ChampaignLosAngelesThisispageiPrinter:OpaquethisContents0Introduction10.1Systemrepresentations...................20.1.1Blockdi

2、agrams...................20.1.2Nonlinearequationsandlineardecompositions..40.2Robustcontrolproblemsanduncertainty.........90.2.1Stabilization.....................90.2.2Disturbancesandcommands............120.2.3Unmodeleddynamics................151PreliminariesinFiniteDimensionalS

3、pace181.1Linearspacesandmappings................181.1.1Vectorspaces....................191.1.2Subspaces......................211.1.3Bases,spans,andlinearindependence......221.1.4Mappingsandmatrixrepresentations......241.1.5Changeofbasisandinvariance..........281.2SubsetsandConve

4、xity...................301.2.1Somebasictopology................311.2.2Convexsets.....................321.3MatrixTheory........................381.3.1EigenvaluesandJordanform...........391.3.2Self-adjoint,unitaryandpositivedenitematrices411.3.3Singularvaluedecomposition.........

5、..451.4LinearMatrixInequalities.................47iiContents1.5Exercises...........................532StateSpaceSystemTheory572.1Theautonomoussystem..................582.2Controllability........................612.2.1Reachability.....................612.2.2Propertiesofcontrollab

6、ility............662.2.3StabilizabilityandthePBHtest..........692.2.4Controllabilityfromasingleinput.........722.3Eigenvalueassignment...................742.3.1Singleinputcase..................742.3.2Multiinputcase...................752.4Observability........................772.

7、4.1Theunobservablesubspace.............782.4.2Observers......................812.4.3Observer-BasedControllers............832.5Minimalrealizations....................842.6Transferfunctionsandstatespace.............872.6.1Real-rationalmatricesandstatespacerealizations892.6.2Minima

8、lity......................922.7Exercises.......