\(L_2\)-gain and passivity techniques in nonlinear control (Q504922): Difference between revisions

The second edition of the monograph provides a compact presentation of some basic ideas in the classical theory of input-output and closed-loop stability, together with a selection of recent theoretical results in nonlinear robust and \(\mathcal{H}_{\infty}\) control and passivity-based control. This edition is a revised and/or expanded version including some of the new results of the first edition [the author, L$_2$-gain and passivity techniques in nonlinear control. Berlin: Springer (1996; Zbl 0925.93004)]. The book consists of Preface to both editions, Contents, 8 Chapters, Bibliography, and Index. Chapter 1 summarizes the basic notion of input-output stability, both for input-output systems and for the input-output closed-loop systems. Chapter 2 presents basic versions of the small-gain and passivity theorems in the treatment of the closed-loop system stability. The relation between passivity and \(L_2\)-gain via the scattering representation is described. In Chapter 3, a state space interpretation of the small gain and passivity approach of previous chapters is treated. The notions of stability of input-output maps and classical Lyapunov stability of state space system representation are in certain sense synthesized in this place. Chapter 4 deals with Euler-Lagrange and Hamiltonian systems as an important class of passive state space systems. An application of Euler-Lagrange systems to a tracking problem is studied here. Port-controlled Hamiltonian systems are defined including examples of electrical and mechanical systems with an extension to dissipation issues. Stabilization procedures for port-controlled Hamiltonian systems are discussed. The notion of control by power-conserving interconnection is emphasized and the notion of implicit port-controlled Hamiltonian system is formalized. In Chapter 5, necessary and sufficient conditions under which a nonlinear system is feedback equivalent to a passive system are derived. They are based on the idea of a possible transformation of a given nonlinear non-passive system into feedback interconnection of two passive systems by the usage of a state feedback. The approach is further applied for the stabilization of cascaded systems. Chapter 6 presents an application of the dissipativity concepts presented in Chapter 3, such as for instance \(L_2\)-gain, to introduce some useful types of representations of nonlinear systems. Stable kernel and stable image representations of nonlinear systems are introduced and subsequently used to formulate nonlinear perturbation models with \(L_2\)-gain bounded uncertainties. A parametrization of stabilizing controllers, analogous to the Youla-Kucera parametrization for linear systems, is derived using stable kernel representations. The factorization of nonlinear systems into a series interconnection is considered. It is focused on a minimum phase system and conditions for the output feedback \(\mathcal{H}_{\infty}\) control problem are addressed for nonlinear systems in standard control configuration. Chapter 8 is devoted to Hamilton-Jacobi inequalities. It includes conditions for solvability of Hamilton-Jacobi inequalities and the structure of their solution set using invariant manifold techniques for the corresponding Hamiltonian vector field with an application to the nonlinear control problem. The focus is laid on the relation between nonlinear dissipation and Hamilton-Jacobi inequalities on one side and linearized dissipation and Riccati inequalitites on the other side including applications towards nonlinear optimal and \(\mathcal{H}_{\infty}\) control. The second edition of the book presents a well written and systematically organized text focused on a unified treatment of classical input-output stability theory and recent results in nonlinear robust and passivity-based control. These areas are synthesized into the theory of dissipative systems. The connection between \(L_2\)-gain and passivity via scattering is emphasized. The prerequisite background is some basic knowledge of control theory, stability theory and linear robust control theory. The book will be useful to advanced graduate students, researchers and applied mathematicians interested in this emerging area.