Preface 1. Introduction Overview A Brief History of LMIs in Control Theory Notes on the Style of the Book Origin of the Book 2. Some Standard Problems Involving LMIs. Linear Matrix Inequalities Some Standard Problems Ellipsoid Algorithm Interior-Point Methods Strict and Nonstrict LMIs Miscellaneous Results on Matrix Inequalities Some LMI Problems with Analytic Solutions 3. Some Matrix Problems. Minimizing Condition Number by Scaling Minimizing Condition Number of a Positive-Definite Matrix Minimizing Norm by Scaling Rescaling a Matrix Positive-Definite Matrix Completion Problems Quadratic Approximation of a Polytopic Norm Ellipsoidal Approximation 4. Linear Differential Inclusions. Differential Inclusions Some Specific LDIs Nonlinear System Analysis via LDIs 5. Analysis of LDIs: State Properties. Quadratic Stability Invariant Ellipsoids 6. Analysis of LDIs: Input/Output Properties. Input-to-State Properties State-to-Output Properties Input-to-Output Properties 7. State-Feedback Synthesis for LDIs. Static State-Feedback Controllers State Properties Input-to-State Properties State-to-Output Properties Input-to-Output Properties Observer-Based Controllers for Nonlinear Systems 8. Lure and Multiplier Methods. Analysis of Lure Systems Integral Quadratic Constraints Multipliers for Systems with Unknown Parameters 9. Systems with Multiplicative Noise. Analysis of Systems with Multiplicative Noise State-Feedback Synthesis 10. Miscellaneous Problems. Optimization over an Affine Family of Linear Systems Analysis of Systems with LTI Perturbations Positive Orthant Stabilizability Linear Systems with Delays Interpolation Problems The Inverse Problem of Optimal Control System Realization Problems Multi-Criterion LQG Nonconvex Multi-Criterion Quadratic Problems Notation List of Acronyms Bibliography Index.

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Linear Matrix Inequalities in System and Control Theory

A new two-terminal circuit element-called the memristorcharacterized by a relationship between the charge q(t)\equiv \int_{-\infty}^{t} i(\tau) d \tau and the flux-linkage \varphi(t)\equiv \int_{- \infty}^{t} v(\tau) d \tau is introduced as the fourth basic circuit element. An electromagnetic field interpretation of this relationship in terms of a quasi-static expansion of Maxwell's equations is presented. Many circuit-theoretic properties of memistors are derived. It is shown that this element exhibits some peculiar behavior different from that exhibited by resistors, inductors, or capacitors. These properties lead to a number of unique applications which cannot be realized with RLC networks alone. Although a physical memristor device without internal power supply has not yet been discovered, operational laboratory models have been built with the help of active circuits. Experimental results are presented to demonstrate the properties and potential applications of memristors.

Memristor-The missing circuit element

INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises

http://www.cds.caltech.edu/%7Emurray/books/MLS/pdf/mls94-complete.pdf

A Mathematical Introduction to Robotic Manipulation

We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. Tools from algebraic graph theory prove useful in modeling the communication network and relating its topology to formation stability. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. We also propose a method for decentralized information exchange between vehicles. This approach realizes a dynamical system that supplies each vehicle with a common reference to be used for cooperative motion. We prove a separation principle that decomposes formation stability into two components: Stability of this is achieved information flow for the given graph and stability of an individual vehicle for the given controller. The information flow can thus be rendered highly robust to changes in the graph, enabling tight formation control despite limitations in intervehicle communication capability.

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Information flow and cooperative control of vehicle formations

Preface, Notations 1.Introduction to Time-Delay Systems I.Frequency-Domain Approach 2.Systems with Commensurate Delays 3.Systems withIncommensurate Delays 4.Robust Stability Analysis II.Time Domain Approach 5.Systems with Single Delay 6.Robust Stability Analysis 7.Systems with Multiple and Distributed Delays III.Input-Output Approach 8.Input-output stability A.Matrix Facts B.LMI and Quadratic Integral Inequalities Bibliography Index

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Stability of Time-Delay Systems

Design of decentralized adaptive controllers for a class of interconnected nonlinear dynamical systems.: part 1

This paper proposes a design methodology for distributed linear multivariable feedback systems with simple unstable plants. The methodology developed gives geometric insight into the dynamics of the stabilization process, and provides a global parametrization for all compensators stabilizing a given simple unstable plant.

Design of multivariable feedback systems with simple unstable plant

This paper exclusively considers lumped k -ports and circuits which contain linear time-invariant elements, independent sources, and controlled sources. The k -ports are represented by their hybrid matrices. Tableau equations of circuits are used as a special case of polynomial matrix description. The hidden modes of a circuit are determined by inspection from its tableau equations in the Hermite row form. The same form is used also to determine the exponential stability of the circuit and that of the k -port. Finally, necessary and sufficient conditions for exponential stability of interconnected k -ports are given; the hidden modes of the interconnection are studied. The paper is self-contained.

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Circuits, k-ports, hidden modes, and stability of interconnected k-ports

A determinantal technique of Bode is used to exhibit a factorization of det[ I + FG ] as a product of factors that are easy to measure and easy to interpret even when F is not diagonal. It is stressed that both F and G may be transcendental.

http://ieeexplore.ieee.org/iel5/9/24139/01100687.pdf

Multivariable systems: Factorization of det[I+ FG] as a product of measurable gains

Some errors and misconceptions in a recent paper by Chen and Tsay are pointed out. A guide to the recent literature is given.

Charles A. Desoer

Papers

Design of decentralized adaptive controllers for a class of interconnected nonlinear dynamical systems.: part 1

Design of multivariable feedback systems with simple unstable plant

Circuits, k-ports, hidden modes, and stability of interconnected k-ports

Multivariable systems: Factorization of det[I+ FG] as a product of measurable gains

Comments on the paper ‘ A general frequency stability criterion for multi-input-output lumped and distributed-parameter feedback systems ’†