Book Isidori Index
Book Isidori Index
Book Isidori Index
Nonlinear Control
Systems
Third Edition
With 47 Figures
~Springer
Professor Alberto Isidori
Dipartimento di Informatica e Sistemistica
"Antonio Ruberti"
Via Eudossiana 18
00184Roma
Italy
Series Editors
E.D. Sontag • M. Thoma • A. lsidori • J.H. van Schuppen
Frrstpublished1985
Second edition 1989
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9876
For Maria Adelaide
Preface to the second edition
learned many of the methodologies which have been applied in the book. I
wish to thank Professor C.l. Byrnes, with whom I recently shared intensive
research activity and Professors T.J. Tarn, J.W. Grizzle and S.S. Sastry with
whom I had the opportunity to cooperate on a number of relevant research
issues. I also would like to thank Professors M. Fliess, S. Monaco and M.D.
Di Benedetto for their valuable advice.
In the last six years, feedback design for nonlinear systems has experienced
a growing popularity and many issues of major interest, which at the time
of the preparation of the second edition of this book were still open, have
been successfully addressed. The purpose of this third edition is to describe
a few significant new findings as well as to streamline and improve some of
the earlier passages.
Chapters from 1 to 4 are unchanged. Chapter 5 now includes also the
discussion of the problern of achieving relative degree via dynamic extension,
which in the second edition was presented in Chapter 7 (former sections
7.5 and 7.6). The presentation is now based on a new "canonical" dynamic
extension algorithm, which proves itself very convenient from a number of
different viewpoints. Chapter 6 is also unchanged, with the only exception of
the proof of the main result of section 6.2, namely the construction of feedback
laws rendering invariant a given distribution, which has been substantially
simplified due to a valuable suggestion of C.Scherer. Chapter 7 no Ionger
includes the subject of tracking and regulation (former section 7.2) which
has been expanded and moved to a separate new Chapter and, as explained
before, the discussion of how to obtain relative degree via dynamic extension.
It includes, on the other hand, a rather detailed exposition of the subject of
noninteracting control with stability via dynamic feedback, which was not
covered in the second edition.
Chapters 8 and 9 are new. The first one of these covers the subject of
tracking and regulation, in a improved exposition which very easily leads to
the solution of the problern of how to obtain a "structurally stable" design.
The last Chapter deals with the design of feedback laws to the purpose of
achieving global or "semiglobal" stability as well as global disturbance atten-
uation. This particular area has been the subject of major research efforts in
the last years. Among the several and indeed outstanding progresses in this
domain, Chapter 9 concentrates only on those contributions whose develop-
ment seems to have been particularly influenced by concepts and methods
presented in the earlier Chapters of the book. The bibliography of the sec-
ond edition has been updated only with those references which were actually
used in the preparation of the new material, namely sections 5.4, 7.4, 7.5 and
Chapters 8 and 9.
xii
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535