Description
This book acquaints readers with recent developments in dynamical systems theory and its applications, with a strong focus on the control and estimation of nonlinear systems. Several algorithms are proposed and worked out for a set of model systems, in particular so-called input-affine or bilinear systems, which can serve to approximate a wide class of nonlinear control systems. These can either take the form of state space models or be represented by an input-output equation. The approach taken here further highlights the role of modern mathematical and conceptual tools, including differential algebraic theory, observer design for nonlinear systems and generalized canonical forms. Preface.- Analysis of input-affine nonlinear processes.- Basic Definitions of Differential Algebras.- Algebraic Observability Condition for Nonlinear systems and External behaviour.- Generalized Observability Canonical Forms.- Observer Synthesis.- Tracking and Stabilization Problems.- Parametric and State Estimation.- Observer synthesis for a more general class of Nonlinear Systems.- A Separation Principle for Nonlinear Systems.- Some uncommon observers with interesting applications.- Appendix A Singularity Treatment.- Appendix B Some properties for Nonlinear Systems.
