Classical Control Using H-infinity Methods
An Introduction to Design

Table of Contents

Preface
Part I. Short Design Course:
1. A Method for Solving System Design Problems
Rational Functions
The Closed Loop System S
Designable Transfer Function
A System Design Problem
The Method
Exercises
2. Internal Stability
Control and Stability
Interpolation
Systems With a Stable Plant
Exercises
3. Frequency Domain Performance Requirements
Introduction
Measures of Performance
Piecing Together Disk Inequalities
More Performance Measures
A Fully Constrained Problem
4. Optimization
Review of Concepts
Generating a Performance Function
Finding T With Best Performance
Acceptable Performance Functions
Performance Not of Circular Type
Optimization
Internal Stability and Optimization
Exercises
5. A Design Example With OPTDesign
Introduction
The Problem
Optimization With OPTDesign
Producing a Rational Compensator
How Good is the Answer?
Optimality Diagnostics
Specifying Compensator Roll-off
Reducing the Numerical Error
Rational Fits
Exercises
Part II. More on Design:
6. Examples
Numerical Practicalities
Design Example 1
Time Domain Performance Requirements
Design Example 2
Performance for Competing Constraints
7. Internal Stability
Calculating Interpolants
Plants With Simple RHP Zeros and Poles
Parameterization. The General Case
Exercises
References and Further Reading
Part III. Appendices: Appendix A. History and Perspective
Appendix B. Getting OPTDesign and Anopt
Appendix C. Anopt Notebook
Appendix D. NewtonInterpolant Notebook
Appendix E. NewtonFit Notebook.