Robotics, mechatronics, and autonomous systems often display complex nonlinear dynamics, which can result in poor transient responses, deviation from desired setpoints, or even instability. Traditionally, control of such systems has relied on diffeomorphism-based methods to linearize the system, but these approaches are often complex and require intricate state-space transformations. This monograph explores new control methods that overcome the limitations of global linearization, offering computational simplicity, global stability guarantees, and improved performance across a broader range of nonlinear dynamical systems and applications.
The authors focus on two main control strategies: the nonlinear optimal (H-infinity) control method and the flatness-based control approach. These techniques have proven more effective than traditional methods for addressing control challenges and are applicable to a wide variety of dynamical systems. Their applications span mechatronics, industrial and space robotics, robotic cranes and pendulums, autonomous vehicles, aerospace systems, satellites, power electronics, biosystems, and financial systems.
This comprehensive monograph is an invaluable resource for academic researchers and engineers working in control systems and estimation, as well as university faculty and graduate students in control and automation, robotics and mechatronics, electrical engineering, power systems, power electronics, biosystems, computer science, financial systems, and physics. It also serves as a practical reference for technical professionals developing real-world applications.
