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Strict-feedback Form
In control theory, dynamical systems are in strict-feedback form when they can be expressed as :\begin \dot = f_0(\mathbf) + g_0(\mathbf) z_1\\ \dot_1 = f_1(\mathbf,z_1) + g_1(\mathbf,z_1) z_2\\ \dot_2 = f_2(\mathbf,z_1,z_2) + g_2(\mathbf,z_1,z_2) z_3\\ \vdots\\ \dot_i = f_i(\mathbf,z_1, z_2, \ldots, z_, z_i) + g_i(\mathbf,z_1, z_2, \ldots, z_, z_i) z_ \quad \text 1 \leq i < k-1\\ \vdots\\ \dot_ = f_(\mathbf,z_1, z_2, \ldots, z_) + g_(\mathbf,z_1, z_2, \ldots, z_) z_k\\ \dot_k = f_k(\mathbf,z_1, z_2, \ldots, z_, z_k) + g_k(\mathbf,z_1, z_2, \dots, z_, z_k) u\end where * with , * are scalars, * is a scalar input to the system, * |
Control Theory
Control theory is a field of mathematics that deals with the control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive the system to a desired state, while minimizing any ''delay'', ''overshoot'', or ''steady-state error'' and ensuring a level of control stability; often with the aim to achieve a degree of optimality. To do this, a controller with the requisite corrective behavior is required. This controller monitors the controlled process variable (PV), and compares it with the reference or set point (SP). The difference between actual and desired value of the process variable, called the ''error'' signal, or SP-PV error, is applied as feedback to generate a control action to bring the controlled process variable to the same value as the set point. Other aspects which are also studied are controllability and observability. Control theory is used in control system eng ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Dynamical Systems Theory
Dynamical systems theory is an area of mathematics used to describe the behavior of complex dynamical systems, usually by employing differential equations or difference equations. When differential equations are employed, the theory is called ''continuous dynamical systems''. From a physical point of view, continuous dynamical systems is a generalization of classical mechanics, a generalization where the equations of motion are postulated directly and are not constrained to be Euler–Lagrange equations of a least action principle. When difference equations are employed, the theory is called ''discrete dynamical systems''. When the time variable runs over a set that is discrete over some intervals and continuous over other intervals or is any arbitrary time-set such as a Cantor set, one gets dynamic equations on time scales. Some situations may also be modeled by mixed operators, such as differential-difference equations. This theory deals with the long-term qualitative behav ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Scalar (mathematics)
A scalar is an element of a field which is used to define a ''vector space''. In linear algebra, real numbers or generally elements of a field are called scalars and relate to vectors in an associated vector space through the operation of scalar multiplication (defined in the vector space), in which a vector can be multiplied by a scalar in the defined way to produce another vector. Generally speaking, a vector space may be defined by using any field instead of real numbers (such as complex numbers). Then scalars of that vector space will be elements of the associated field (such as complex numbers). A scalar product operation – not to be confused with scalar multiplication – may be defined on a vector space, allowing two vectors to be multiplied in the defined way to produce a scalar. A vector space equipped with a scalar product is called an inner product space. A quantity described by multiple scalars, such as having both direction and magnitude, is called a '' ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Vanish (mathematics)
In mathematics, a zero (also sometimes called a root) of a real-, complex-, or generally vector-valued function f, is a member x of the domain of f such that f(x) ''vanishes'' at x; that is, the function f attains the value of 0 at x, or equivalently, x is the solution to the equation f(x) = 0. A "zero" of a function is thus an input value that produces an output of 0. A root of a polynomial is a zero of the corresponding polynomial function. The fundamental theorem of algebra shows that any non-zero polynomial has a number of roots at most equal to its degree, and that the number of roots and the degree are equal when one considers the complex roots (or more generally, the roots in an algebraically closed extension) counted with their multiplicities. For example, the polynomial f of degree two, defined by f(x)=x^2-5x+6 has the two roots (or zeros) that are 2 and 3. f(2)=2^2-5\times 2+6= 0\textf(3)=3^2-5\times 3+6=0. If the function maps real numbers to real numbers, then its ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Origin (mathematics)
In mathematics, the origin of a Euclidean space is a special point, usually denoted by the letter ''O'', used as a fixed point of reference for the geometry of the surrounding space. In physical problems, the choice of origin is often arbitrary, meaning any choice of origin will ultimately give the same answer. This allows one to pick an origin point that makes the mathematics as simple as possible, often by taking advantage of some kind of geometric symmetry. Cartesian coordinates In a Cartesian coordinate system, the origin is the point where the axes of the system intersect.. The origin divides each of these axes into two halves, a positive and a negative semiaxis. Points can then be located with reference to the origin by giving their numerical coordinates—that is, the positions of their projections along each axis, either in the positive or negative direction. The coordinates of the origin are always all zero, for example (0,0) in two dimensions and (0,0,0) in three. Ot ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Nonlinear System
In mathematics and science, a nonlinear system is a system in which the change of the output is not proportional to the change of the input. Nonlinear problems are of interest to engineers, biologists, physicists, mathematicians, and many other scientists because most systems are inherently nonlinear in nature. Nonlinear dynamical systems, describing changes in variables over time, may appear chaotic, unpredictable, or counterintuitive, contrasting with much simpler linear systems. Typically, the behavior of a nonlinear system is described in mathematics by a nonlinear system of equations, which is a set of simultaneous equations in which the unknowns (or the unknown functions in the case of differential equations) appear as variables of a polynomial of degree higher than one or in the argument of a function which is not a polynomial of degree one. In other words, in a nonlinear system of equations, the equation(s) to be solved cannot be written as a linear combination of the un ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Prentice Hall
Prentice Hall was an American major educational publisher owned by Savvas Learning Company. Prentice Hall publishes print and digital content for the 6–12 and higher-education market, and distributes its technical titles through the Safari Books Online e-reference service. History On October 13, 1913, law professor Charles Gerstenberg and his student Richard Ettinger founded Prentice Hall. Gerstenberg and Ettinger took their mothers' maiden names, Prentice and Hall, to name their new company. Prentice Hall became known as a publisher of trade books by authors such as Norman Vincent Peale; elementary, secondary, and college textbooks; loose-leaf information services; and professional books. Prentice Hall acquired the training provider Deltak in 1979. Prentice Hall was acquired by Gulf+Western in 1984, and became part of that company's publishing division Simon & Schuster. S&S sold several Prentice Hall subsidiaries: Deltak and Resource Systems were sold to National Education ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Triangular Matrix
In mathematics, a triangular matrix is a special kind of square matrix. A square matrix is called if all the entries ''above'' the main diagonal are zero. Similarly, a square matrix is called if all the entries ''below'' the main diagonal are zero. Because matrix equations with triangular matrices are easier to solve, they are very important in numerical analysis. By the LU decomposition algorithm, an invertible matrix may be written as the product of a lower triangular matrix ''L'' and an upper triangular matrix ''U'' if and only if all its leading principal minors are non-zero. Description A matrix of the form :L = \begin \ell_ & & & & 0 \\ \ell_ & \ell_ & & & \\ \ell_ & \ell_ & \ddots & & \\ \vdots & \vdots & \ddots & \ddots & \\ \ell_ & \ell_ & \ldots & \ell_ & \ell_ \end is called a lower triangular matrix or left triangular matrix, and a ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Lyapunov Stability
Various types of stability may be discussed for the solutions of differential equations or difference equations describing dynamical systems. The most important type is that concerning the stability of solutions near to a point of equilibrium. This may be discussed by the theory of Aleksandr Lyapunov. In simple terms, if the solutions that start out near an equilibrium point x_e stay near x_e forever, then x_e is Lyapunov stable. More strongly, if x_e is Lyapunov stable and all solutions that start out near x_e converge to x_e, then x_e is asymptotically stable. The notion of exponential stability guarantees a minimal rate of decay, i.e., an estimate of how quickly the solutions converge. The idea of Lyapunov stability can be extended to infinite-dimensional manifolds, where it is known as structural stability, which concerns the behavior of different but "nearby" solutions to differential equations. Input-to-state stability (ISS) applies Lyapunov notions to systems with inputs ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Backstepping
In control theory, backstepping is a technique developed circa 1990 by Petar V. Kokotovic and others for designing stabilizing controls for a special class of nonlinear dynamical systems. These systems are built from subsystems that radiate out from an irreducible subsystem that can be stabilized using some other method. Because of this recursive structure, the designer can start the design process at the known-stable system and "back out" new controllers that progressively stabilize each outer subsystem. The process terminates when the final external control is reached. Hence, this process is known as ''backstepping.'' Backstepping approach The backstepping approach provides a recursive method for stabilizing the origin of a system in strict-feedback form. That is, consider a system of the form :\begin\begin \dot &= f_x(\mathbf) + g_x(\mathbf) z_1\\ \dot_1 &= f_1(\mathbf,z_1) + g_1(\mathbf,z_1) z_2\\ \dot_2 &= f_2(\mathbf,z_1,z_2) + g_2(\mathbf,z_1,z_2) z_3\\ \vdots\\ \dot_i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Lyapunov Function
In the theory of ordinary differential equations (ODEs), Lyapunov functions, named after Aleksandr Lyapunov, are scalar functions that may be used to prove the stability of an equilibrium of an ODE. Lyapunov functions (also called Lyapunov’s second method for stability) are important to stability theory of dynamical systems and control theory. A similar concept appears in the theory of general state space Markov chains, usually under the name Foster–Lyapunov functions. For certain classes of ODEs, the existence of Lyapunov functions is a necessary and sufficient condition for stability. Whereas there is no general technique for constructing Lyapunov functions for ODEs, in many specific cases the construction of Lyapunov functions is known. For instance, quadratic functions suffice for systems with one state; the solution of a particular linear matrix inequality provides Lyapunov functions for linear systems; and conservation laws can often be used to construct Lyapunov funct ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Nonlinear Control
Nonlinear control theory is the area of control theory which deals with systems that are nonlinear, time-variant, or both. Control theory is an interdisciplinary branch of engineering and mathematics that is concerned with the behavior of dynamical systems with inputs, and how to modify the output by changes in the input using feedback, feedforward, or signal filtering. The system to be controlled is called the "plant". One way to make the output of a system follow a desired reference signal is to compare the output of the plant to the desired output, and provide feedback to the plant to modify the output to bring it closer to the desired output. Control theory is divided into two branches. Linear control theory applies to systems made of devices which obey the superposition principle. They are governed by linear differential equations. A major subclass is systems which in addition have parameters which do not change with time, called ''linear time invariant'' (LTI ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
