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1、R.Sepulchre,M.Jankovic,P.V.KokotovicConstructiveNonlinearControlPrefaceInthisbookseveralstreamsofnonlinearcontroltheoryaremergedanddi-rectedtowardsaconstructivesolutionofthefeedbackstabilizationproblem.Analytic,geometricandasymptoticconceptsareassembl
2、edasdesigntoolsforawidevarietyofnonlinearphenomenaandstructures.Di®erential-geometricconceptsrevealimportantstructuralpropertiesofnonlinearsystems,butal-lownomarginformodelingerrors.Toovercomethisde¯ciency,wecombinethemwithanalyticconceptsofpassivity,
3、optimalityandLyapunovstability.Inthiswaygeometryservesasaguideforconstructionofdesignprocedures,whileanalysisprovidesrobustnesstoolswhichgeometrylacks.Ourmaintoolispassivity.Asacommonthread,itconnectsallthechaptersofthebook.Passivitypropertiesareinduc
4、edbyfeedbackpassivationdesigns.Untilrecently,thesedesignswererestrictedtoweaklyminimumphasesystemswithrelativedegreeone.Ourrecursivedesignsremovetheserestrictions.Theyareapplicabletowiderclassesofnonlinearsystemscharacterizedbyfeedback,feedforward,and
5、interlacedstructures.Aftertheintroductorychapter,thepresentationisorganizedintwomajorparts.Thebasicnonlinearsystemconcepts-passivity,optimality,andstabil-itymargins-arepresentedinChapters2and3inanovelwayasdesigntools.MostofthenewresultsappearinChapter
6、s4,5,and6.Forcascadesystems,andthen,recursively,forlargerclassesofnonlinearsystems,weconstructde-signprocedureswhichresultinfeedbacksystemswithoptimalitypropertiesandstabilitymargins.Thebookdi®ersfromotherbooksonnonlinearcontrol.Itismoredesign-oriente
7、dthanthedi®erential-geometrictextsbyIsidori[43]andNijmeijerandVanderSchaft[84].ItcomplementsthebooksbyKrsti¶c,KanellakopoulosandKokotovi¶c[61]andFreemanandKokotovi¶c[26],bybroadeningtheclassofsystemsanddesigntools.Thebookiswrittenforanaudienceofgradua
8、testudents,controlengineers,andappliedmathematiciansinterestedincontroltheory.Itisself-containedandaccessiblewithabasicknowledgeofcontroltheoryasinAndersonandMoore[1],andnonlinearsystemsasinKhalil[56].viiviiiForclarity,mostoftheconceptsareintr