L2-Gain and Passivity Techniques in Nonlinear Control

This standard text gives a unified treatment of passivity and L2-gain theory for nonlinear state space systems, preceded by a compact treatment of classical passivity and small-gain theorems for nonlinear input-output maps. The synthesis between passivity and L2-gain theory is provided by the theory of dissipative systems.Specifically, the small-gain and passivity theorems and their implications for nonlinear stability and stabilization are discussed from this standpoint. The connection betweenL2-gain and passivity via scattering is detailed. Feedback equivalence to a passive system and resulting stabilization strategies are discussed.The passivity concepts are enriched by a generalised Hamiltonian formalism, emphasising the close relations with physical modeling and control by interconnection, and leadingto novel control methodologies going beyond passivity. The potential ofL2-gain techniquesin nonlinearcontrol,including a theory of all-pass factorizations of nonlinear systems, and of parametrization of stabilizing controllers, is demonstrated. The nonlinear H-infinity optimal control problem is also treated and the book concludes with ageometric analysis of the solution sets of Hamilton-Jacobi inequalities and their relation with Riccati inequalities for the linearization. ·L2-Gain and Passivity Techniques in NonlinearControl (third edition) is thoroughly updated, revised, reorganized and expanded. Among the changes, readers will find: ·updatedand extended coverage of dissipative systems theory ·substantial new material regarding converse passivity theorems and incremental/shifted passivity ·coverageof recent developments on networks of passive systems with examples ·a completely overhauled and succinct introduction to modeling and control of port-Hamiltonian systems, followed by an exposition of port-Hamiltonian formulation of physical network dynamics ·updated treatment of all-pass factorization of nonlinear systems The book provides graduate students and researchers in systems and control with a compact presentation of a fundamental and rapidly developing area of nonlinear control theory, illustrated by a broad range of relevant examples stemming from different application areas.