Linear Controller Design: Limits of Performance
Stephen Boyd & Craig Barratt
Prentice-Hall, 1991
Preface ix
1 Control Engineering and Controller Design 1
I A FRAMEWORK FOR CONTROLLER DESIGN 23
2 A Framework for Control System Architecture 25
3 Controller Design Specifications and Approaches 47
II ANALYTICAL TOOLS 67
4 Norms of Signals 69
5 Norms of Systems 93
6 Geometry of Design Specifications 127
III DESIGN SPECIFICATIONS 128
7 Realizability and Closed-Loop Stability 147
8 Performance Specifications 171
9 Differential Sensitivity Specifications 195
10 Robustness Specifications via Gain Bounds 209
11 A Pictorial Example 249
IV NUMERICAL METHODS 273
12 Some Analytic Solutions 275
13 Elements of Convex Analysis 293
14 Special Algorithms for Convex Optimization 311
15 Solving the Controller Design Problem 351
16 Discussion and Conclusions 373
Notation and Symbols 383
List of Acronyms 389
Bibliography 391
Index 405
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