Recent advancements in Lyapunov-based design and analysis techniques have applications to a broad class of engineering systems, including mechanical, electrical, robotic, aerospace, and underactuated systems. This book provides a practical yet rigorous development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation.
* Control designs for a broad class of engineering systems
* Presentation of adaptive and learning control methods for uncertain nonlinear systems
* Experimental testbed descriptions and results that guide the reader toward techniques for further research
* Development of necessary mathematical background in each chapter; additional mathematical prerequisites contained in two appendices
Intended for readers who have some knowledge of undergraduate systems theory, the book includes a wide range of applications making it suitable for an extensive audience. Graduate students and researchers in control systems, robotics, and applied mathematics, as well as professional engineers will appreciate the worka (TM)s combination of theoretical underpinnings and current and emerging engineering applications.
When men of knowledge impart this knowledge, I do not mean they will convince your reason. I mean they will awaken in you the faith that it is so. - Sri Krishna, Bhagavadgita BACKGROUND The use of computers has led to significant productivity increases in the en- gineering industry. Most ofthe computer-aided engineering applications were . restricted to algorithmic computations, such as finite element programs and circuit analysis programs. However, a number ofproblems encountered in en- gineering are not amenable to purely algorithmic solutions. These problems are often ill-structured; the term ill-structured problems is used here to de- note problems that do not have a clearly defined algorithmic solution. An experienced engineer deals with these ill-structured problems using his/her judgment and experience. The knowledge-based systems (KBS) technology, which emerged out of research in artificial intelligence (AI), offers a method- ologyto solve these ill-structuredengineering problems. The emergenceofthe KBS technology can be viewed as the knowledge revolution: other important events that led to increased productivity are the industrial revolution (17th century); the invention of the transistor and associated developments (first half of the 20th century); and the world-wide web (towards the end of the 20th century). Kurzweil, in a lecture at M. LT on December 3, 1987, linked the progress of automation to two industrial revolutions: the first industrial PREFACE xxxii revolution leveraged our physical capabilities, whereas the second industrial revolution - the knowledge revolution - is expected leverage oUr mental ca- pabilities.
Civil Engineering Topics, Volume 4 Proceedings of the 29th IMAC, A Conference and Exposition on Structural Dynamics, 2011, the fourth volume of six from the Conference, brings together 35 contributions to this important area of research and engineering. The collection presents early findings and case studies on fundamental and applied aspects of Civil Engineering, including Operational Modal Analysis, Dynamic Behaviors and Structural Health Monitoring.
Bobby North went out into the front yard by the iron gate between the two tall stone columns to watch the horses and wagons and 'mobiles traveling up and down that invitingly dusty and mysterious road that he was forbidden ever to set foot upon. He knew he could crawl under the gate, he was so little, and raise clouds of dust by dragging his feet in the road as two small boys did who passed by and stopped to gaze in wonder at Bobby and at the big brick house set back in the yard among some trees. He wondered if the Supe'tendent would really send him to bed without anything to eat if he disobeyed her just this once and slipped under the gate, out into the road for as many as forty or a dozen minutes.
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