ROBUST NONLINEAR CONTROL DESIGN
State-Space and Lyapunov Techniques
R.A. Freeman, Northwestern University & P.V. Kokotovic, University of
California, Santa Barbara

This book presents recent advances in the theory and design of robust
nonlinear control systems.  In the first part of the book, the authors
provide a unified framework for state space and Lyapunov techniques by
combining concepts from set valued analysis, Lyapunov stability theory, and
game theory.  Within this unified framework, the authors then develop a
variety of new control design methods suitable for systems described by
low-order nonlinear ordinary differential equations.  This book emphasizes
global controller designs, that is designs for the entire region of model
validity.  Because linear theory deals well with local system behavior
(except for critical cases in which Jacobian linearization fails), the
authors focus on achieving robustness and performance for large deviations
from a given operation condition.

The purpose of the book is to summarize new Lyapunov design techniques for
nonlinear systems and to raise important issues concerning large-signal
robustness and performance.  The authors have been the first to address some
of these issues, and they report their findings in this text.  For example,
they identify two potential sources of excessive control effort in Lyapunov
design techniques and show how such effort can be greatly reduced.

The researcher who wishes to enter the field of robust nonlinear control
might use this book as a source of new research topics.  For those already
active in the field, the book can serve as a reference to a recent body of
significant work.  Finally, the design engineer faced with a nonlinear
control problem will benefit from the new techniques presented here.

Contents: Introduction * Set-Valued Maps * Robust Control Lyapunov Functions
* Inverse Optimality * Robust Backstepping * Measurement Disturbances *
Dynamic Partial State Feedback * Robust Nonlinear PI Control * Appendix:
Local K-continuity in metric spaces * Bibliography * Index