Cover
Half-title page
Title page
Copyright page
Contents
Preface
Part I Core Material
1 Historical Introduction
1.1 Historical Overview
1.2 Lessons from History
1.3 Control and Information
1.4 Notes and References
2 Dynamical Systems
2.1 Introduction: The Pendulum as a Dynamical System
2.2 General Formulation
2.3 Frequency Domain
2.4 Time Domain
2.5 Stability
2.6 Bifurcations
2.7 Summary
2.8 Notes and References
Problems
3 Frequency-Domain Control
3.1 Basic Feedback Ideas
3.2 Two Case Studies 3.3 Integral, Derivative, and PID
3.4 Feedforward
3.5 Stability of Closed-Loop Systems
3.6 Delays and Nonminimum Phase
3.7 Designing the Control
3.8 MIMO Systems
3.9 Summary
3.10 Notes and References
Problems
4 Time-Domain Control
4.1 Controllability and Observability
4.2 Control Based on the State
4.3 Control Based (Indirectly) on the Output
4.4 Summary
4.5 Notes and References
Problems
5 Discrete-Time Systems
5.1 Discretizing Signals
5.2 Tools for Discrete Dynamical Systems
5.3 Discretizing Dynamical Systems 5.4 Design of Digital Controllers
5.5 Summary
5.6 Notes and References
Problems
6 System Identification
6.1 Physics or Phenomenology?
6.2 Measuring Dynamics
6.3 Model Building
6.4 Model Selection
6.5 Model Reduction
6.6 Summary
6.7 Notes and References
Problems
Part II Advanced Ideas
7 Optimal Control
7.1 One-Dimensional Example
7.2 Continuous Systems
7.3 Linear Quadratic Regulator
7.4 Dynamic Programming
7.5 Hard Constraints
7.6 Feedback
7.7 Numerical Methods
7.8 Summary
7.9 Notes and References
Problems 8 Stochastic Systems
8.1 Kalman Filter
8.2 Linear Quadratic Gaussian Control
8.3 Bayesian Filtering
8.4 Nonlinear Filtering
8.5 Why State Estimation Can Be a Hard Problem
8.6 Stochastic Optimal Control
8.7 Smoothing and Prediction
8.8 Summary
8.9 Notes and References
Problems
9 Robust Control
9.1 Robust Feedforward
9.2 Robust Feedback
9.3 Risk
9.4 Worst-Case Methods: The H Min-Max Approach
9.5 Summary
9.6 Notes and References
Problems
10 Adaptive Control
10.1 Direct Methods
10.2 Indirect Methods
10.3 Adaptive Feedforward Control 10.4 Optimal Adaptive Control
10.5 Neural Networks
10.6 Summary
10.7 Notes and References
Problems
11 Nonlinear Control
11.1 Feedback Linearization
11.2 Lyapunov-Based Design
11.3 Collective Dynamics
11.4 Controlling Chaos
11.5 Summary
11.6 Notes and References
Problems
Part III Special Topics
12 Discrete-State Systems
12.1 Discrete-State Models
12.2 Inferring States and Models
12.3 Control
12.4 Summary
12.5 Notes and References
Problems
13 Quantum Control
13.1 Quantum Mechanics
13.2 Three Types of Quantum Control

"This book extends a tutorial I wrote on control theory (Bechhoefer, 2005). In both the article and this book, my goal has been "to make the strange familiar, and the familiar strange."1 The strange is control theory-feedback and feedforward, transfer functions and minimum phase, H8 metrics and Z-transforms, and many other ideas that are not usually part of the education of a physicist. The familiar includes notions such as causality, measurement, robustness, and entropy-concepts physicists think they know-that acquire new meanings in the light of control theory. I hope that this book accomplishes both tasks"-- Provided by publisher