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

We study tracking and disturbance rejection of a class of MIMO nonlinear systems with linear proportional plus integral (PI) compensator. Roughly speaking, we show that if the given nonlinear plant is exponentially stable and has a strictly increasing dc steady-state I/O map, then a simple PI compensator can be used to yield a stable unity-feedback closed-loop system which asymptotically tracks reference inputs that tend to constant vectors and asymptotically rejects disturbances that tend to constant vectors.

Tracking and disturbance rejection of MIMO nonlinear systems with PI controller

Gives an elementary proof of Kharitonov's theorem using simple complex plane geometry without invoking the Hermite-Bieler theorem. Kharitonov's theorem is a stability result for classes of polynomials defined by letting each coefficient vary independently in an arbitrary interval. The result states that the whole class is Hurwitz if and only if four special, well-defined polynomials are Hurwitz. The paper also gives elementary proofs of two previously known extensions: for polynomials of degree less than six, the requirement is reduced to fewer than four polynomials; and the theorem is generalized to polynomials with complex coefficients. >

An elementary proof of Kharitonov's stability theorem with extensions

Subharmonic Functions and Performance Bounds on Linear Time-Invariant Feedback Systems

The given rational matrix transfer function H(\cdot) is viewed as a network function of a multiport. The no X ni matrix H(s) is factored into D_{l}(S)^{-1} N_{l}(s) = N_{r}(s)D_{r}(s)^{-1} ,where D_{l}(\cdot),N_{l}(\cdot),N_{r}(\cdot) , and D_{r}(\cdot) are polynomial matrices of appropriate size, with D_{l}(\cdot) and N_{i}(\cdot) left coprime and N_{r}(\cdot) and D_{r}(\cdot) right coprime. A zero of H(\cdot) is defined to be a point z where the local rank of N_{l}(\cdot) drops below the normal rank. The theorems make precise the intuitive concept that a multiport blocks the transmission of signals proportional to e^{zt} if and only if z is a zero of H(\cdot) . We show that p is a pole of H(\cdot) if and only if some "singular" input creates a zero-state response of the form re^{pt} , for t > 0 . The order m of the zero z is similarly characterized. Although these results have state-space interpretation, they are derived by purely algebraic techniques, independently of state-space techniques. Consequently, with appropriate modifications, these results apply to the sampled-data case.

Charles A. Desoer

Papers

Tracking and disturbance rejection of MIMO nonlinear systems with PI controller

An elementary proof of Kharitonov's stability theorem with extensions

Subharmonic Functions and Performance Bounds on Linear Time-Invariant Feedback Systems

Zeros and poles of matrix transfer functions and their dynamical interpretation

Notes for a second course on linear systems