This text teaches control system design using H-infinity techniques that are simple and compatible with classical control, yet powerful enough to allow the solution of physically meaningful problems. The authors begin by teaching how to formulate control system design problems as mathematical optimization problems and then discuss the theory and numerics for these optimization problems. The book is separated into modules so that the parts on theory can be read independently of the design parts and vice versa. The authors treat control design problems in a physically correct way. They present a small set of specific rules that the reader can apply to convert a particular design problem to the fundamental optimization problem of H-infinity control. This precisely formulated mathematics problem can then be solved on a computer. The book introduces the control software package OPTDesign, which allows the reader to reproduce the calculations done in the solved examples and try variations on them.
Preface Part I: Short Design Course. Chapter 1: A Method for Solving System Design Problems Chapter 2: Internal Stability Chapter 3: Frequency Domain Performance Requirements Chapter 4: Optimization Review of Concepts Chapter 5: A Design Example With OPTDesign Part II: More on Design. Chapter 6: Examples Chapter 7: Internal Stability Part III: H? Theory. Chapter 8: H? Optimization and Control Chapter 10: Facts About Analytic Functions Chapter 11: Proof of the Main Result Chapter 12: Computer Solutions to OPT Part IV: H? Theory: Vector Case. Chapter 13: Many Analytic Functions Chapter 14: Coordinate Descent Approaches to OPT Chapter 15: More Numerical Algorithms Chapter 16: More Theory of the Vector OPT Problem Part V: Semidefinite Programming vs. H? Optimization. Chapter 17: Matrix H? Optimization Chapter 18: Numerical Algorithms for H? Optimization Chapter 19: Semidefinite Programming vs. Matrix H? Optimization Chapter 20: Proofs Part VI: Appendices. Appendix A: History and Perspective Appendix B: Pure Mathematics and H? Optimization Appendix C: Uncertainty Appendix D: Computer Code for Examples in Chapter 6 Appendix E: Getting OPTDesign and Anopt Appendix F: Anopt Notebook Appendix G: NewtonInterpolant Notebook Appendix H: NewtonFit Notebook.
'The books by Helton and Merino contain a wealth of material that can be used by students and researchers in a variety of different ways, depending on background and interests. To enhance this modular flexibility, the authors offer two versions ... Both versions contain introductory material, at an elementary level, on what control engineering is all about ...' Joseph A. Ball, SIAM Review 'This book, treating control system design using H-Infinity techniques and H-Infinity theory motivated by control applications, is a very good tool for a large number of people interested in control and in H^\infty theory, from undergraduate students and engineers to research mathematicians. Here the reader can find answers to practical and theoretical problems, even by a partial reading, because the book is written in a highly modular way ...' I. Valusescu, Zentralblatt fur Mathematik ' The authors make clear that a powerful and unified theory of H-Infinity design is beginning to emerge, but that much remains to be done. The present book is a welcome contribution that should help to publicize the important advances that have been made and their potential for solving a difficult class of engineering control design problems.' N. Harris McClamroch, Mathematical Reviews
