Lyapunov-Based Control of Mechanical Systems (Control Engineering) Book

This is a new text/reference on advanced nonlinear algorithms for mechanical systems that are based on Lyapunov-type design and stability analysis. The presentation illustrates, in a unified framework, how recent Lyapunov-based techniques can be used to solve a variety of nonlinear control problems for mechanical systems. Starting with part one, the foundations are established in a thorough manner, including necesssary math background materials. Part two covers solutions to some tracking problems for rigid mechanical systems, i.e., systems modeled by ordinary differential equations. Part three addresses problems of setpoint/vibration control of flexible mechanical systems, i.e., systems modeled by partial differential equations. By covering theory and applications, the book addresses both ODE-based and PDE-based mechanical systems and presents results for many useful real-time experiments and computer simulations. Topics and Features: *applications orientation covering both theory and experimental perspectives*covers both ODE- and PDE-based mechanical systems in unified framework*boundary control of PDE systems*computer simulations of experimental results*necessary background information provided in appendix A This new book provides a thorough discussion and presentation of advanced nonlinear control algorithms for mechanical systems based on Lyapunov-type designs. Researchers and professionals in control engineering, mechanical engineering and robotics will find the book beneficial, offering new ideas and real-time problem-solving methods for the analysis and simulation of nonlinear problems.Read More