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Control theory has been extremely successful in dealing with linear time-invariant models of dynamic systems. A blend of state space and frequency domain methods has reached a level at which feedback control design is systematic, not only with disturbance-free models, but also in the presence of disturbances and modeling errors. There is an abundance of design methodologies for linear models: root locus, Bode plots, LQR-optimal control, eigenstructure assignment, H-infinity, µ-synthesis, linear matrix inequalities, etc. Each of these methods can be used to achieve stabilization, tracking, disturbance attenuation and similar design objectives.
KeywordsLyapunov Function Relative Degree Stability Margin Minimum Phase Slow Manifold
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