Optimal Control Linear Quadratic Methods

Аннотация

The book contains three major parts. Part One introduces and outlines the basic theory of the linear regulator/tracker for time-invariant and time-varying systems, emphasizing the former. The actual derivation of the optimal control law is via the Hamilton-Jacobi equation which is introduced using the Principle of Optimality. The infinite-time problem is considered. Part Two outlines the engineering properties of the regulator. Degree of stability, phase and gain margin, tolerance of time delay, effect of nonlinearities, asymptotic properties and various sensitivity problems are all considered. Part Three considers state estimation and robust controller design using state estimate feedback. Loop transmission recovery, frequency shaping, and techniques of controller reduction and implementation are considered.