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L2-Gain and Passivity Techniques in Nonlinear Control

  • Book
  • © 1996

Overview

Authors:
  1. Arjan Schaft

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 218)

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About this book

The aim of these lecture notes is to provide a synthesis between classical input-output and closed-loop stability theory, in particular the small-gain and passivity theorems, and recent work on nonlinear H( and passivity-based control. The treatment of the theory of dissipative systems is the main aspect of these lecture notes. Fundamentals of passivity techniques are summarised, and it is shown that the passivity properties of different classes of physical systems can be unified within a generalised Hamiltonian framework. Key developments in linear robust control theory are extended to the nonlinear context using L2-gain techniques. An extensive treatment of nonlinear H( control theory is presented, emphasising its main structural features. Since the application of L2-gain techniques relies on solving Hamilton-Jacobi inequalities the structure of their solution sets and conditions for solvability are derived.

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Table of contents (7 chapters)

  1. Front Matter

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  2. Input-output stability

    Pages 7-15

  3. Small-gain and passivity

    Pages 16-31

  4. Dissipative systems theory

    Pages 32-52

  5. Hamiltonian systems as passive systems, and stabilization of Hamiltonian systems

    Pages 53-68

  6. Factorizations of nonlinear systems

    Pages 69-90

  7. Nonlinear H ∞ control

    Pages 91-119

  8. Hamilton-Jacobi inequalities

    Pages 120-154

  9. Back Matter

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Bibliographic Information

  • Book Title: L2-Gain and Passivity Techniques in Nonlinear Control

  • Authors: Arjan Schaft

  • Series Title: Lecture Notes in Control and Information Sciences

  • DOI: https://doi.org/10.1007/3-540-76074-1

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Springer Book Archive

  • Copyright Information: Springer-Verlag Berlin Heidelberg 1996

  • eBook ISBN: 978-3-540-70689-2Published: 14 August 2005

  • Series ISSN: 0170-8643

  • Series E-ISSN: 1610-7411

  • Edition Number: 1

  • Number of Pages: IV, 170

  • Topics: Control, Robotics, Mechatronics

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