TABLE OF CONTENTS
ACKNOWLEDGEMENTS ii
ABSTRACT v
CHAPTERS
ONE INTRODUCTION 1
TWO TRACKING AND DISTURBANCE REJECTION FOR
NONLINEAR SYSTEMS 8
Notation 8
Main Results for the Nonlinear Servomechanism Problem... 9
Stability of the Closed-Loop Transient System 26
The Relation Between the Dimension of the Internal
Model System and the Input/Output Dimensions 29
Summary 34
THREE APPLICATION TO LINEAR SYSTEMS 37
Review of Linear Servomechanism Results 37
Solution to the Linear Problem via the
Nonlinear Formulation 39
FOUR FEEDBACK CONTROL 47
Stabilization Using the Linearized Equation 47
Optimal Feedback for the Linear Servomechanism Problem.. 66
Increased Degree of Stability Using the Optimal
Control Approach 71
FIVE PRACTICAL CONSIDERATIONS 74
Controller Based on the Nominal Trajectories 74
Feedback Gain Selection 80
Robustness with Respect to Generation of the
Nominal Signals 84
Digital Implementation 86
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