This book gives a unified treatment of classical input-output stability theory and recent developments in nonlinear robust and passivity-based control. The synthesis between these areas is provided by the theory of dissipative systems. Specifically, the small-gain and passivity theorems and their implications for nonlinear stability and stabilization are discussed from this vantage-ground. The connection between L2-gain and passivity via scattering is detailed.The passivity concepts are enriched by a generalised Hamiltonian formalism, emphasizing the close relations with modeling and control by interconnection. Feedback equivalence to a passive system and resulting stabilization strategies are discussed.The potential of L2-gain techniques in nonlinear control is demonstrated, including a compact treatment of the nonlinear H optimal control problem. This book supplies the reader with a succinct, informative summary of a fundamental and rapidly developing area of nonlinear control theory.
Preface to the Second Edition
From the Preface to the First Edition
Chapter 1 : Input-Output Stability
Chapter 2 : Small-Gain and Passivity of Input-Output Maps
Chapter 3 : Dissipative Systems Theory
Chapter 4 : Hamiltonian Systems as Passive Systems
Chapter 5 : Passivity by Feedback
Chapter 6 : Factorizations of Nonlinear Systems
Chapter 7 : Nonlinear H, Control
Chapter 8 : Hamilton-Jacobi Inequalities
Bibliography
Index
