© 2003

Robust Autonomous Guidance

An Internal Model Approach


Part of the Advances in Industrial Control book series (AIC)

Table of contents

  1. Front Matter
    Pages i-xvi
  2. Alberto Isidori, Lorenzo Marconi, Andrea Serrani
    Pages 1-58
  3. Alberto Isidori, Lorenzo Marconi, Andrea Serrani
    Pages 59-84
  4. Alberto Isidori, Lorenzo Marconi, Andrea Serrani
    Pages 85-110
  5. Alberto Isidori, Lorenzo Marconi, Andrea Serrani
    Pages 111-148
  6. Alberto Isidori, Lorenzo Marconi, Andrea Serrani
    Pages 149-192
  7. Back Matter
    Pages 193-229

About this book


A typical plant control system will be subject to the undesirable influence of exogenous commands and disturbances. In order to track and reject these Professor Isidori and his co-authors have designed a feedback control system based on embedding a model of these disturbances within the controller itself - the so-called "internal model".

Beginning with a review of the fundamental principles of internal-model-based feedback control design, Robust Autonomous Guidance moves on to expound recent enhancements to such designs and then to their implementation in systems operating under conditions of great uncertainty.

The three case studies presented: attitude control of a low-Earth-orbit satellite and the landing of fixed- and rotary-winged aircraft on a ship involve control systems coping with a high degree of nonlinear behaviour. The key issues addressed in each case study are the design of an adaptive internal model for the specific tracking task and of stabilizing control capable of steering the tracking error to zero while keeping all internal states bounded for any arbitrarily large but bounded envelope of initial data and uncertain parameters. Nested saturated controls form the basis of novel tools for asymptotic analysis and design.

Robust Autonomous Guidance will be of great interest to academic and industrial researchers working with nonlinear control systems and to engineers involved in the design of aerospatial guidance systems. It will also be a useful reference for graduate students working with non-linear systems.


Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.


Aerospace Engineering Automotive Engineering Autonomous Guidance Control Control Applications Control Engineering Control Theory Helicopters Nonlinear Control Nonlinear Systems Output Regulation Robust Control Tracking autonom model

Authors and affiliations

  1. 1.Dipartimento di Informatica e Sistemistica, “Antonio Ruberti”RomaItaly
  2. 2.Dipartimento di Elettronica Informatica e SistemisticaUniversity of BolognaBolognaItaly
  3. 3.Department of Electrical EngineeringThe Ohio State UniversityColumbusUSA

Bibliographic information

Industry Sectors
Chemical Manufacturing
IT & Software
Energy, Utilities & Environment
Oil, Gas & Geosciences


The book is well organized and well written. Each chapter starts with an introductory section and each case study concludes with simulation results. The book is an excellent combination of theory and real-world applications. Each application not only demonstrates the power of the theoretical results but also is important on its own behalf.

This book is a valuable addition to references for academic researchers and industrial engineers working in the field of nonlinear control systems design, in particular, for aerospace guidance systems. The book can also serve as a useful reference for graduate courses in nonlinear control systems.


IEEE Control Systems Magazine (October 2004) (Reviewer: Qian Wang)