Discontinuous Systems develops nonsmooth stability analysis and discontinuous control synthesis based on novel modeling of discontinuous dynamic systems, operating under uncertain conditions. While being primarily a research monograph devoted to the theory of discontinuous dynamic systems, no background in discontinuous systems is required; such systems are introduced in the book at the appropriate conceptual level. Being developed for discontinuous systems, the theory is successfully applied to their subclasses – variable-structure and impulsive systems – as well as to finite- and infinite-dimensional systems such as distributed-parameter and time-delay systems. The presentation concentrates on algorithms rather than on technical implementation although theoretical results are illustrated by electromechanical applications. These specific applications complete the book and, together with the introductory theoretical constituents bring some elements of the tutorial to the text.
This compact monograph is focused on disturbance attenuation in nonsmooth dynamic systems, developing an H∞ approach in the nonsmooth setting. Similar to the standard nonlinear H∞ approach, the proposed nonsmooth design guarantees both the internal asymptotic stability of a nominal closed-loop system and the dissipativity inequality, which states that the size of an error signal is uniformly bounded with respect to the worst-case size of an external disturbance signal. This guarantee is achieved by constructing an energy or storage function that satisfies the dissipativity inequality and is then utilized as a Lyapunov function to ensure the internal stability requirements. Advanced H∞ Control is unique in the literature for its treatment of disturbance attenuation in nonsmooth systems. It synthesizes various tools, including Hamilton–Jacobi–Isaacs partial differential inequalities as well as Linear Matrix Inequalities. Along with the finite-dimensional treatment, the synthesis is extended to infinite-dimensional setting, involving time-delay and distributed parameter systems. To help illustrate this synthesis, the book focuses on electromechanical applications with nonsmooth phenomena caused by dry friction, backlash, and sampled-data measurements. Special attention is devoted to implementation issues. Requiring familiarity with nonlinear systems theory, this book will be accessible to g raduate students interested in systems analysis and design, and is a welcome addition to the literature for researchers and practitioners in these areas.
This book is devoted to control of finite and infinite dimensional processes with continuous-time and discrete time control, focusing on suppression problems and new methods of adaptation applicable for systems with sliding motions only. Special mathematical methods are needed for all the listed control tasks. These methods are addressed in the initial chapters, with coverage of the definition of the multidimensional sliding modes, the derivation of the differential equations of those motions, and the existence conditions. Subsequent chapters discusses various areas of further research. The book reflects the consensus view of the authors regarding the current status of SMC theory. It is addressed to a broad spectrum of engineers and theoreticians working in diverse areas of control theory and applications. It is well suited for use in graduate and postgraduate courses in such university programs as Electrical Engineering, Control of Nonlinear Systems, and Mechanical Engineering.
This book presents a hybrid approach to the mechanics of thin bodies. Classical theories of rods, plates and shells with constrained shear are based on asymptotic splitting of the equations and boundary conditions of three-dimensional elasticity. The asymptotic solutions become accurate as the thickness decreases, and the three-dimensional fields of stresses and displacements can be determined. The analysis includes practically important effects of electromechanical coupling and material inhomogeneity. The extension to the geometrically nonlinear range uses the direct approach based on the principle of virtual work. Vibrations and buckling of pre-stressed structures are studied with the help of linearized incremental formulations, and direct tensor calculus rounds out the list of analytical techniques used throughout the book. A novel theory of thin-walled rods of open profile is subsequently developed from the models of rods and shells, and traditionally applied equations are proven to be asymptotically exact. The influence of pre-stresses on the torsional stiffness is shown to be crucial for buckling analysis. Novel finite element schemes for classical rod and shell structures are presented with a comprehensive discussion regarding the theoretical basis, computational aspects and implementation details. Analytical conclusions and closed-form solutions of particular problems are validated against numerical results. The majority of the simulations were performed in the Wolfram Mathematica environment, and the compact source code is provided as a substantial and integral part of the book.
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