Dissipative systems analysis and control. Theory and applications (Q5898315)

This book is focused to the development of direct Lyapunov method using input-output properties of controlled complex systems. The main idea is how to design robust controllers, when real system differs in structure or in parameters from initial model. In the book is shown that the design of controllers may be very effective when there is used only the dissipativity theory, because the controller may be designed so, that stability relies on the dissipative properties only, and closed-loop system will be stable whatever the values of physical parameters. Authors are suggested to use notion of Positive Real systems to see as a generalization of the positive definiteness of a matrix to the case of dynamical systems with inputs and outputs. In this book various kinds of dynamical systems are analyzed: linear, time invariant, nonlinear, finite-dimensional, infinite-dimensional, discrete time, non-smooth, differential inclusions etc. One focus of the book is the Kalman-Yakubovich-Popov lemma, which is a cornerstone of control and system theory. Its applications are really wide: for example in absolute stability, Popov's hyperstability, dissipativity, optimal control, adaptive control, filtering, stochastic control, Lur'e problem. The concept of dissipative systems is very useful in analysis and synthesis of control laws for linear and nonlinear dynamical systems. Dissipative systems theory is linked to Lyapunov stability theory because the study of dissipativity is give the methodology to generate Lyapunov functions. The input/output properties of several feedback interconnections of passive systems and conditions under which storage functions are Lyapunov functions are considered. It is introduced the theory for nonlinear systems and Popov's hyperstability. In the book, some classes of dissipative systems like controlled Lagrangian, input-output Hamiltonian systems, and port controlled Hamiltonian systems (e.g. example in applications to robotic manipulators which interacted with its environment) are studied. The investigations are very useful to see how the dissipativity properties can be used to design stable and robust feedback controllers basing on the fundament classical Lyapunov stability and Lyapunov functions. There are studied applications of dissipativity theory to direct adaptive controllers applied to mechanical and linear invariant systems. The experimental results are illustrated the applicability of the methodologies exposed in the book. The background materials contain the main tools used throughout the book. Namely Lyapunov stability, Matrosov's theorem, Krasovskii-LaSalle's Invariant set theorem, algebraic Riccati equations, some useful matrix algebra results. But understanding of this material demands extraordinary efforts of readers. May be rational to recommend the previous acknowledgment with such books, for example: [\textit{Solomon Lefschetz}, Stability of nonlinear control systems. New York and London: Academic Press. (1965; Zbl 0136.08801)], or [\textit{J. C. Hsu} and \textit{A. U. Meyer}, Modern Control Principles and Applications. Maidenhead, Berksh.: McGraw-Hill Publishing Company, Ltd. (1968; Zbl 0177.12601)] . For graduate students, researchers and practicing engineers.