The second edition provides thorough, up-to-date coverage of the analytical foundations of various aspects of nonlinear systems. This includes details on existence and uniqueness of solutions and approximate analysis methods. Reflecting the increasing importance of digital computers, the author has included a discussion of discrete-time systems in the chapters dealing with Lyapunov stability and input-output stability. Several applications of nonlinear system theory are included throughout the book, including stability and convergence of adaptive identifiers, stability of a class of electro-mechanical systems, a separation theorem for deterministic nonlinear systems, and more.

Nonlinear Systems Analysis

Vidyasagar, M.

Computers & Technology

PRENTICE/HALL

This book is the first comprehensive treatment of the "fractional representation" approach to linear feedback system design and analysis, an approach that has recently taken the control theory field by storm. It unfolds several basic themes, virtually all of which are new and which are destined to play a fundamental role in algebraic system theory in years to come.  It offers a very basic introduction to the factorization method for scalar systems and a thorough treatment of coprime factorizations including H∞ theory.  Contents: Introduction; Proper Stable Rational Functions; Scalar Systems: An Introduction; Matrix Rings; Stabilization; Filtering and Sensitivity Minimization; Robustness; Extensions to General Settings; Appendixes: Algebraic Preliminaries, Preliminaries on Matrix Rings, Topological Preliminaries; References and Index.  Mathukumalli Vidyasagar is Professor of Electrical Engineering, University of Waterloo, Ontario, Canada.  Control System Synthesis is seventh in the MIT Press Signal Processing, Optimization, and Control Series, edited by Alan S. Willsky.

Control System Synthesis: A Factorization Approach (Mit Press Series in Signal Processing, Optimization and Control, 7)

Networking & Cloud Computing

Mit Pr

This textbook has been designed to introduce students to robot kinematics and dynamics. It includes a treatment of robot control, information on linear transformations, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems and adaptive control.

Robot Dynamics and Control

Engineering & Transportation

Spong, M.W.

Engineering

John Wiley and Sons Ltd.

This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. Includes many worked examples, examples illustrating all aspects of the theory, and problems.

Spong, Mark W.

Computer Science

wiley

Robot Modeling and Control introduces the fundamentals of robot modeling and control and provides background material on terminology, linear algebra, dynamical systems and stability theory, followed by detailed coverage of forward and in-verse kinematics, Jacobians, Lagrangian dynamics, motion planning, robust and adaptive motion and force control, and com-puter vision. Both basic and advanced material is presented in a style that is readable and mathematically rigorous. The book provides relevant applications from industrial robotics and mobile robotics. Suitable for a one or two term course, this text is appropriate for undergraduate and graduate students from electrical engineering, mechanical engineering, computer science, and mathematics and can be used as a research reference. Many detailed worked examples and extensive problems illustrate theory and point the reader to more advanced topics.

Robot Modelling and Control

Hutchinson, Seth

John Wiley&Sons, Inc.

This book was the first and remains the only book to give a comprehensive treatment of the behavior of linear or nonlinear systems when they are connected in a closed-loop fashion, with the output of one system forming the input of the other. The study of the stability of such systems requires one to draw upon several branches of mathematics but most notably functional analysis. Feedback Systems: Input-Output Properties includes the most basic concepts of matrices and norms, the important fundamental theorems in input-output stability, and the requisite background material in advanced topics such as the small gain theorem and the passivity theorem.

Feedback Systems: Input-Output Properties (Classics in Applied Mathematics)

Science & Math

Desoer, Charles A.

Mathematics

Society for Industrial and Applied Mathematics

This book explores important aspects of Markov and hidden Markov processes and the applications of these ideas to various problems in computational biology. The book starts from first principles, so that no previous knowledge of probability is necessary. However, the work is rigorous and mathematical, making it useful to engineers and mathematicians, even those not interested in biological applications. A range of exercises is provided, including drills to familiarize the reader with concepts and more advanced problems that require deep thinking about the theory. Biological applications are taken from post-genomic biology, especially genomics and proteomics.
The topics examined include standard material such as the Perron-Frobenius theorem, transient and recurrent states, hitting probabilities and hitting times, maximum likelihood estimation, the Viterbi algorithm, and the Baum-Welch algorithm. The book contains discussions of extremely useful topics not usually seen at the basic level, such as ergodicity of Markov processes, Markov Chain Monte Carlo (MCMC), information theory, and large deviation theory for both i.i.d and Markov processes. The book also presents state-of-the-art realization theory for hidden Markov models. Among biological applications, it offers an in-depth look at the BLAST (Basic Local Alignment Search Technique) algorithm, including a comprehensive explanation of the underlying theory. Other applications such as profile hidden Markov models are also explored.

Hidden Markov Processes: Theory and Applications to Biology (Princeton Series in Applied Mathematics)

Biological Sciences

Princeton University Press

When the first edition of this book was published, most control theorists considered the subject of nonlinear systems a mystery. Since then, advances in the application of differential geometric methods to nonlinear analysis have matured to a stage where every control theorist needs to possess knowledge of the basic techniques. The second edition provides a rigorous mathematical analysis of the behavior of nonlinear control systems under a variety of situations. It develops nonlinear generalizations of a large number of techniques and methods widely used in linear control theory. It contains three extensive chapters devoted to the key topics of Lyapunov stability, input-output stability, and the treatment of differential geometric control theory. Moreover, valuable reference material included in these chapters is unavailable elsewhere. The text also features a large number of problems that allow readers to test their understanding, and self-contained sections and chapters that make particular topics more accessible.

Nonlinear Systems Analysis (Classics in Applied Mathematics, Series Number 42)

SIAM: Society for Industrial and Applied Mathematics

Business & Money

Management & Leadership

"The coverage is unparalleled in both depth and breadth. No other text that I have seen offers a better complete overview of modern robotic manipulation and robot control." -- Bradley Bishop, United States Naval Academy Based on the highly successful classic, Robot Dynamics and Control, by Spong and Vidyasagar (Wiley, 1989), Robot Modeling and Control offers a thoroughly up-to-date, self-contained introduction to the field. The text presents basic and advanced material in a style that is at once readable and mathematically rigorous. Key Features * A step-by-step computational approach helps you derive and compute the forward kinematics, inverse kinematics, and Jacobians for the most common robot designs. * Detailed coverage of vision and visual servo control enables you to program robots to manipulate objects sensed by cameras. * An entire chapter on dynamics prepares you to compute the dynamics of the most common manipulator designs. * The most common motion planning and trajectory generation algorithms are presented in an elementary style. * The comprehensive treatment of motion and force control includes both basic and advanced methods. * The text's treatment of geometric nonlinear control is more readable than in more advanced texts. * Many worked examples and an extensive list of problems illustrate all aspects of the theory. About the authors Mark W. Spong is Donald Biggar Willett Professor of Engineering at the University of Illinois at Urbana-Champaign. Dr. Spong is the 2005 President of the IEEE Control Systems Society and past Editor-in-Chief of the IEEE Transactions on Control Systems Technology. Seth Hutchinson is currently a Professor at the University of Illinois in Urbana-Champaign, and a senior editor of the IEEE Transactions on Robotics and Automation. He has published extensively on the topics of robotics and computer vision. Mathukumalli Vidyasagar is currently Executive Vice President in charge of Advanced Technology at Tata Consultancy Services (TCS), India's largest IT firm. Dr. Vidyasagar was formerly the director of the Centre for Artificial Intelligence and Robotics (CAIR), under Government of India's Ministry of Defense.

Robot Modeling and Control

See the best price to sell, buy, or rent books by Vidyasagar, M.. BookScouter helps to compare book prices from 25+ online bookstores and 30+ buyback vendors with a single search.

Books by Vidyasagar, M.

See the best price to sell, buy, or rent books by Vidyasagar, M.. BookScouter helps to compare book prices from 25+ online bookstores and 30+ buyback vendors with a single search.

Nonlinear Systems Analysis

Control System Synthesis: A Factorization Approach (Mit Press Series in Signal Processing, Optimization and Control, 7)

Robot Dynamics and Control

Robot Dynamics and Control

Robot Modelling and Control

Feedback Systems: Input-Output Properties (Classics in Applied Mathematics)

Hidden Markov Processes: Theory and Applications to Biology (Princeton Series in Applied Mathematics)

Nonlinear Systems Analysis (Classics in Applied Mathematics, Series Number 42)

Feedback Systems: Input-Output Properties (Classics in Applied Mathematics)

Robot Modeling and Control