nonlinear(haddad)

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1、NonlinearBook10ptNovember20,2007NonlinearDynamicalSystemsandControlNonlinearBook10ptNovember20,2007NonlinearBook10ptNovember20,2007NonlinearDynamicalSystemsandControlALyapunov-BasedApproachWassimM.HaddadVijaySekharChellaboinaPRINCETONUNIVERSITYPRESSPRINCETONANDOXFORDNonlinearBook10ptNovem

2、ber20,2007Copyrightc2008byPrincetonUniversityPressPublishedbyPrincetonUniversityPress41WilliamStreet,Princeton,NewJersey08540IntheUnitedKingdom:PrincetonUniversityPress6OxfordSt,Woodstock,OxfordshireOX201TWAllRightsReservedLibraryofCongressCataloging-in-PublicationDataHaddad,WassimM.,1961

3、–Nonlineardynamicalsystemsandcontrol:aLyapunov-basedapproach/WassimM.Haddad,VijaySekharChellaboina.p.cm.Includesbibliographicalreferencesandindex.ISBN-9780691133294(alk.paper)1.Nonlinearcontroltheory.2.Automaticcontrol.3.Lyapunovfunctions.I.Chellaboina,VijaySekhar,1970-II.Title.QA402.35.H

4、332008629.8′36–dc222007061026BritishLibraryCataloging-in-PublicationDataisavailableThisbookhasbeencomposedinLATEXThepublisherwouldliketoacknowledgetheauthorsofthisvolumeforprovidingthecamera-readycopyfromwhichthisbookwasprinted.Printedonacid-freepaper.∞press.princeton.eduPrintedintheUnite

5、dStatesofAmerica10987654321NonlinearBook10ptNovember20,2007TomyparentsMikhaelandSofiaHaddad,withgratitude,appreciation,andlove.ThroughtheiractionstheyinspiredmetopassionatelypursueknowledgethroughoutmylifebecauseitisamorelastingpossessionthananythingelseW.M.H.TomywifePadma,whopreservesthes

6、tabilityofmyfamilylifedespitelife’snonlinearities,turbulence,anduncertaintieswhileIamdeeplyentrenchedinmyownworldV.C.NonlinearBook10ptNovember20,2007NonlinearBook10ptNovember20,2007Arq ntekatèlo èqonoudèn,oÔteaòdionoÔtepeiron.Anythingthathasabeginningandanendcannotatthesametimebeinfinitea

7、ndeverlasting.—AnaximanderofMiletus,Ionia,Greeceìsmon(tìnde),tänaÎtänpntwn,oÖtetijeÀn,oÖtenjr¸pwnâpohsen,ll'®neÈkaÈêstinkaÈêstaipÜrezwon,ptìmenonmètrakaÈposbennÔmenonmètra.Thisuniversewhichisthesameeverywhere,andwhichnoonegodormanhasmade,existed,exists,andwillcon