PDF Textbook Ebook for Nonlinear Control 1e 1st Edition by Hassan K. Khalil. ISBN-13: 9780133499261
Chapter 1 Introduction
1.1 Nonlinear Models
1.2 Nonlinear Phenomena
1.3 Overview of the Book
1.4 Exercises
Chapt
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PDF Textbook Ebook for Nonlinear Control 1e 1st Edition by Hassan K. Khalil. ISBN-13: 9780133499261
Chapter 1 Introduction
1.1 Nonlinear Models
1.2 Nonlinear Phenomena
1.3 Overview of the Book
1.4 Exercises
Chapter 2 Two‐Dimensional Systems
2.1 Qualitative Behavior of Linear Systems
2.2 Qualitative Behavior Near Equilibrium Points
2.3 Multiple Equilibria
2.4 Limit Cycles
2.5 Numerical Construction of Phase Portraits
2.6 Exercises
Chapter 3 Stability of Equilibrium Points
3.1 Basic Concepts
3.2 Linearization
3.3 Lyapunov's Method
3.4 The Invariance Principle
3.5 Exponential Stability
3.6 Region of Attraction
3.7 Converse Lyapunov Theorems
3.8 Exercises
Chapter 4 Time‐Varying and Perturbed Systems
4.1 Time‐Varying Systems
4.2 Perturbed Systems
4.3 Boundedness and Ultimate Boundedness
4.4 Input‐to‐State Stability
4.5 Exercises
Chapter 5 Passivity
5.1 Memoryless Functions
5.2 State Models
5.3 Positive Real Transfer Functions
5.4 Connection with Stability
5.5 Exercises
Chapter 6 Input‐Output Stability
6.1 ℒ Stability
6.2 ℒ Stability of State Models
6.3 ℒ2 Gain
6.4 Exercises
Chapter 7 Stability of Feedback Systems
7.1 Passivity Theorems
7.2 The Small‐Gain Theorem
7.3 Absolute Stability
7.3.1 Circle Criterion
7.3.2 Popov Criterion
7.4 Exercises
Chapter 8 Special Nonlinear Forms
8.1 Normal Form
8.2 Controller Form
8.3 Observer Form
8.4 Exercises
Chapter 9 State Feedback Stabilization
9.1 Basic Concepts
9.2 Linearization
9.3 Feedback Linearization
9.4 Partial Feedback Linearization
9.5 Backstepping
9.6 Passivity‐Based Control
9.7 Control Lyapunov Functions
9.8 Exercises
Chapter 10 Robust State Feedback Stabilization
10.1 Sliding Mode Control
10.2 Lyapunov Redesign
10.3 High‐Gain Feedback
10.4 Exercises
Chapter 11 Nonlinear Observers
11.1 Local Observers
11.2 The Extended Kalman Filter
11.3 Global Observers
11.4 High‐Gain Observers
11.5 Exercises
Chapter 12 Output Feedback Stabilization
12.1 Linearization
12.2 Passivity‐Based Control
12.3 Observer‐Based Control
12.4 High‐Gain Observers and the Separation Principle
12.5 Robust Stabilization of Minimum Phase Systems
12.5.1 Relative Degree One
12.5.2 Relative Degree Higher Than One
12.6 Exercises
Chapter 13 Tracking and Regulation
13.1 Tracking
13.2 Robust Tracking
13.3 Transition Between Set Points
13.4 Robust Regulation via Integral Action
13.5 Output Feedback
13.6 Exercises
Appendix A Examples
A.1 Pendulum
A.2 Mass–Spring System
A.3 Tunnel‐Diode Circuit
A.4 Negative‐Resistance Oscillator
A.5 DC‐to‐DC Power Converter
A.6 Biochemical Reactor
A.7 DC Motor
A.8 Magnetic Levitation
A.9 Electrostatic Microactuator
A.10 Robot Manipulator
A.11 Inverted Pendulum on a Cart
A.12 Translational Oscillator with Rotating Actuator
Appendix B Mathematical Review
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