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Control Handbook
by: William S. Levine
Topics include: stability robustness condition, blend chest consistency, tuning functions design, velocity vector roll, steam flow feedback, structurally fixed modes, friction model parameters, human operator dynamics, servomechanism controller, robust servomechanism problem, good command following, rigid robot model, blend chest area, direct fuzzy control, elementary switching theory, fuzzy model reference learning control, matrix design equations, reachable decompositions, rising static friction, singular value constraint, vehicle angular vibration, diagonal decoupling, passive force feedback, dissipative controllers, finite gain stable
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More than 1,400 pages packed with authoritative information on all aspects of control
More than 100 wellorganized, peerreviewed chapters
Hundreds of tables, figures, diagrams, and equations for control device and system selection, implementation, and application
Multidisciplinary treatment of topics for control engineers, electrical engineers, mechanical engineers, chemical engineers, and other users of control systems and concepts
Special sections on the important topic of digital control for computers, the unique features of aerospace controls, and the new field of robot control
Listings of the most important and interesting references
This is the biggest, most comprehensive, and most prestigious compilation of articles on control systems imaginable. Every aspect of control is expertly covered, from the mathematical foundations to applications in robot and manipulator control. Never before has such a massive amount of authoritative, detailed, accurate, and wellorganized information been available in a single volume. Absolutely everyone working in any aspect of systems and controls must have this book!
Table of Contents
FUNDAMENTALS OF CONTROL
Mathematical Foundations
Ordinary Linear Differential and Difference Equations, B.P. Lathi
The Fourier, Laplace, and ZTransforms, E.W. Kamen
Matrices and Linear Algebra, B.W. Dickinson
Complex Variables, C.W. Gray
Models for Dynamical Systems
Standard Mathematical Models
InputOutput Models, W.S. Levine
State Space, J. Gillis
Graphical Models
Block Diagrams, D.K. Frederick and C.M. Close
Signal Flow Graphs, N.S. Nise
Determining Models
Modeling from Physical Principles, F.E. Cellier, H. Elmqvist, and M. Otter
System Identification When Noise is Negligible, W.S. Levine
Analysis and Design Methods for ContinuousTime Systems
Analysis Methods
Time Response of Linear TimeInvariant Systems, R.T. Stefani
Controllability and Observability, W.A. Wolovich
Stability Tests
The RouthHurwitz Stability Criterion, R.H. Bishop and R.C. Dorf
The Nyquist Stability Test, C.E. Rohrs
DiscreteTime and SampledData Stability Tests, M. Mansour
Gain Margin and Phase Margin, R.T. Stefani
Design Methods
Specification of Control Systems, J.S. Yang and W.S. Levine
Design Using Performance Indices, R.C. Dorf and R.H. Bishop
Nyquist, Bode, and Nichols Plots, J.J. D'Azzo and C.H. Houpis
The Root Locus Plot, W.S. Levine
PID Control, K.J. Astrom and T. Hagglund
State Space  Pole Placement, K. Ogata
Internal Model Control, R.D. Braatz
TimeDelay Compensation  Smith Predictor and Its Modifications, Z.J. Palmor
Digital Control
DiscreteTime Systems, M.S. Santina and A.R. Stubberud
SampledData Systems, A. Feuer and G.C. Goodwin
DiscreteTime Equivalents to ContinuousTime Systems, M.S. Santina and A.R. Stubberud
Design Methods for DiscreteTime Linear TimeInvariant Systems, M.S. Santina and A.R. Stubberud
Quantization Effects, M.S. Santina and A.R. Stubberud
SampleRate Selection, M.S. Santina and A.R. Stubberud
Real Time Software for Implementation of Digital Control, D.M. Auslander, J.R. Ridgely, and J. Jones
Programmable Controllers, G. Olsson
Analysis and Design Methods for Nonlinear Systems
Analysis Methods
The Describing Function Method, D.P. Atherton
The Phase Plane Method, D.P. Atherton
Design Methods
Dealing with Actuator Saturation, R.H. Middleton
Bumpless Transfer, A. Ahlen and S.F. Graebe
Linearization and GainScheduling, J.S. Shamma
Software for Control System Analysis and Design
Numerical and Computational Issues in Linear Control and System Theory, R.V. Patel, A.J. Laub, and P.M. Van Dooren
Software for Modeling and Simulating Control Systems, M. Otter and F.E. Cellier
ComputerAided Control Systems Design, C.M. Rimvall and C.P Jobling
ADVANCED METHODS OF CONTROL
Analysis Methods for MIMO Linear Systems
Multivariable Poles, Zeros, and Pole/Zero Cancellations, J. Douglas and M. Athans
Fundamentals of Linear TimeVarying Systems, E.W. Kamen
Geometric Theory of Linear Systems, F. Hamano
Polynomial and Matrix Fraction Descriptions, D.F. Delchamps
Robustness Analysis with Real Parametric Uncertainty, R. Tempo and F. Blanchini
MIMO Frequency Response Analysis and the Singular Value Decomposition, S.D. Patek and M. Athans
Stability Robustness to Unstructured Uncertainty for Linear TimeInvariant Systems, A. Chao and M. Athans
Tradeoffs and Limitations in Feedback Systems, D.P. Looze and J.S. Freudenberg
Modeling Deterministic Uncertainty, J. Raisch and B.A. Francis
The Use of Multivariate Statistics in Process Control, M.J. Piovoso and K.A. Kosanovich
Kalman Filter and Observers
Linear Systems and White Noise, W.S. Levine
Kalman Filter, M. Athans
Riccati Equations and Their Solution, V. Kucera
Observers, B. Friedland
Design Methods for MIMO LTI Systems
Eigenstructure Assignment, K.M. Sobel, E.Y. Shapiro, and A.N. Andry, Jr.
Linear Quadratic Regulator Control, L. Lublin and M. Athans
H2 (LQG) and H8 Control, L. Lublin, S. Grocott, and M. Athens
Robust Control: Theory, Computation, and Design, M. Dahleh
The Structured Singular Value (m) Framework, G.J. Balas and A. Packard
Algebraic Design Methods, V. Kucera
Quantitative Feedback Theory (QFT) Technique, C.H. Houpis
The Inverse Nyquist Array and Characteristic Locus Design Methods, N. Munro and J.M. Edmunds
Robust Servomechanism Problem, E.J. Davidson
Numerical OptimizationBased Design, V. Balakrishnan and A.L. Tits
Optimal Control, F.L. Lewis
Decentralized Control, M.E. Sezer and D.D. Siljak
Decoupling, T. Williams and P.J. Antsaklis
Predictive Control, A.W. Pike, M.J. Grimble, M.A. Johnson, A.W. Ordys, and S. Shakoor
Adaptive Control
Automatic Tuning of PID Controllers, T. Hagglund and K.J. Astrom
SelfTuning Control, D.W. Clarke
Model Reference Adaptive Control, P.A. Ioannou
Analysis and Design of Nonlinear Systems
Analysis Methods
The Lie Bracket and Control, V. Jurdjevic
Two Time Scale and Averaging Methods, H.K. Khalil
Volterra and Fliess Series Expansion for Nonlinear Systems, F. LamnabiLagarrique
Stability
Lyapunov Stability, H.K. Khalil
InputOutput Stability, A.R. Teel, T.T. Georgiou, L. Praly, and E. Sontag
Design Methods
Feedback Linearization of Nonlinear Systems, A. Isidori and M.D. Di Benedetto
Nonlinear Zero Dynamics, A. Isidori and C.I. Byrnes
Nonlinear Output Regulation and Tracking, A. Isidori
Lyapunov Design, R.A. Freeman and P.V. Kokotovic
Variable Structure and Sliding Mode Controller Design, R.A. De Carlo, S.H. Zak, and S.V. Drakunov
Control of Bifurcation and Chaos, E.H. Abed, H.O. Wang, and A. Tesi
OpenLoop Control Using Oscillatory Inputs, J. Baillieul and B. Lehman
Adaptive Nonlinear Control, M. Krstic and P.V. Kokotovic
Intelligent Control, K.M. Passino
Fuzzy Control, K.M. Passino and S. Yurkovich
Neural Control, J.A. Farrell
System Identification
System Identification, L. Ljung
Stochastic Control
Discrete Time Markov Processes, A. Schwartz
Stochastic Differential Equations, J.A. Gubner
Linear Stochastic InputOutput Models, T. Soderstrom
Minimum Variance Control, M.R. Katebi and A.W. Ordys
Dynamic Programming, P.R. Kumar
Stability of Stochastic Systems, K.O. Loparo and X. Feng
Stochastic Adaptive Control, T.E. Duncan and B. PasikDuncan
Control of Distributed Parameter Systems
Controllability of Thin Elastic Beams and Plates, J.E. Lagnese and G. Leugering
Control of the Heat Equation, T.I. Seidman
Observability of Linear Distributed Parameter Systems, D.L. Russell
APPLICATIONS OF CONTROL
Process Control
Water Level Control for the Toilet Tank: A Historical Perspective, B.G. Coury
Temperature Control in Large Buildings, C.C. Federspiel and J.E. Seem
Control of pH, F.G. Shinskey
Control of the Pulp and PaperMaking Process, W.L. Bialkowski
Control for Advanced Semiconductor Device Manufacturing: A Case History, T. Kailath, C. Schaper, Y. Cho, P. Gyugyi, S. Norman, P. Park, S. Boyd, G. Franklin, K. Saraswat, M. Modehi, and C. Davis
Mechanical Control Systems
Automotive Control Systems
Engine Control, J.A. Cook, J.W. Grizzle, and J. Sun
Adaptive Automotive Speed Control, M.K. Liubakka, D.S. Rhode, J.R. Winkelman, and P.V. Kokotovic
Aerospace Controls
Flight Control of Piloted Aircraft, M. Pachter and C.H. Houpis
Spacecraft Attitude Control, V.T. Coppola and N.H. McClamroch
Control of Flexible Space Structures, S.M. Joshi and A.G. Kelkar
LineofSight Pointing and Stabilization Control Systems, D.A. Haessig
Control of Robots and Manipulators
Motion Control of Robotic Manipulators, M.W. Spong
Force Control of Robotic Manipulators, J. De Schutter and H. Bruyninckx
Control of Nonholonomic Systems, J.T.Y. Wen
Miscellaneous Mechanical Control Systems
Friction Compensation, B. ArmstrongHelouvry and C. Canudas de Wit
Motion Control Systems, J. Tal
UltraHigh Precision Control, T.R. Kurfess and H. Jenkins
Robust Control of a Compact Disc Mechanism, M. Steinbuch, G. Schootstra, and O.H. Bosgra
Electrical and Electronic Control Systems
Power Electronic Controls
Dynamic Modeling and Control in Power Electronics, G.C. Verghese
Motion Control with Electric Motors by InputOutput Linearization, D.G. Taylor
Control of Electric Generators, T. Jahns and R.W. De Doncker
Control of Electrical Power
Control of Electrical Power Generating Plants, H.G. Kwatny and C. Maffezzoni
Control of Power Transmission, J.J. Paserba, J.J. SanchezGasca, and E.V. Larsen
Control Systems Including Humans
HumanintheLoop Control, R.A. Hess
Index
"there is a need for good books that explain the questions and results of control theory in a way that mathematicians can understand while doing justice to the engineering side and giving many examples of real application. The Control Handbook is an ambitious and spectacularly successful effort to respond to this need. It is a most welcome addition to the literature in the field."
 Hector J. Sussmann, Rutgers University
"clearly sets a standard by bringing together a reference which will equally well serve the scholar, the practitioner, and the student in one volume."
IEEE Control Systems, December 1998
The Control Handbook is the AAP winner of best engineering handbook of 1996
IEEI Transactions on Automatic Control, Vol. 45, No. 8
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