Lectures in feedback design for multivariable systems (Q2374269)

This is an expository book on feedback design of linear and nonlinear systems. It assumes a basic knowledge of control theory, although an overview of those topics is presented in the appendix. The book focuses on methods of achieving asymptotic stability, and disturbance rejection, in the presence of model uncertainties. Those methods are the ones which appeal to the classical ``small-gain'' principle for robust stability. The presentation for linear and nonlinear systems is aimed to be made similar as much as possible. Chapter 1 is an introduction to the topics in the book. Chapter 2 and 3 deal with the design of control laws by means of which linear systems can be stabilized in spite of mode uncertainties. In Chapter 4 the problem of designing a control so as to influence the effects of certain external signal on some selected variables is studied in more detail. Chapter 5 concerns coordination and consensus of linear systems. Chapter 6 deals with the problem of designing state feedback laws for single-input single-output nonlinear systems, whereas in Chapter 7 the design of an asymptotic observer is considered. Section 8 deals with a nonlinear version of the Small-Gain Theorem. The methods for feedback stabilization for linear systems are extended in Chapters 9--11 to the case of multi-input multi-output systems. In Chapter 12 the nonlinear analogues of the design methods for linear systems are described.