NONLINEAR SYSTEMS HASSAN K. KHALILContents Preface xiii 1 Introduction 11 Nonlinear Models and Nonlinear Phenomena . Examples 1.2.1 Pendulum Equation 1.2.2 Tunnel-Diode Circuit 6 1.2.3 Mass-Spring System 8 1.2.4 Negative-Resistance Oscillator u 1.2.5. Artificial Neural Network “4 1.2.6 Adaptive Control 16 1.2.7 Common Nonlineatities Is 1.3. Exercises 4 2 Second-Order System 2.1 Qualitative Behavior of Linear Systems Multiple Equilibria Qualitative Behavior Near Equilibrium Points Limit Cycles Numerical Construction of Phase Portraits Existence of Periodic Orbits Bifurcation Exercises, 3 Fundamental Properties ST 3.1 Existence and Uniqueness 88 3.2 Continuous Dependence on Initial Conditions and Parameters 95 3.3. Differentiabilty of Solutions and Sensitivity Equations 99 3.4 Comparison Principle 102 3.5 Exercises 1054 Lyapunov Stability 4.1 Autonomous Systems 1.2 The Invariance Principle 1.3. Linear Systems and Linearization 4.4 Comparison Functions 4.5 Nonautonomous Systems 4.6 Linear Time-Varying Systems and Linearization 4.7 Converse Theorems 4.8 Boundedness and Ultimate Boundedness 4.9 Input-to 4.10 Exercises Input-Output Stability BLL Stability 5.2L Stability of State Models, 5.3 L2 Gain 5.4 Feedback Systems: The Small-Gain Theorem 5.5 Exercises Passivity 6.1 Memoryless Functions 6.2. State Models 6.3 Positive Real Transfer Functions 6.4 Lz and Lyapunov Stability 6.5 Feedback Systems: Passivity Theorems 6.6 Exercises Frequency Domain Analysis of Feedback Systems 7.1 Absolute Stability TLL Circle Criterion 7.1.2 Popov Criterion 7.2. The Describing Function Method 3 Exercises Advanced Stability Analysis 8.1 The Center Manifold Theorem 8.2 Region of Attraction 8.3. Invariance-like Theorems 8.4 Stability of Periodic Solutions 8.5 Exercises CONTENTS 303 303CONTENTS Stability of Perturbed Systems o.1 Vanishing Perturbation 9.2 Nonvanishing Perturbation 0.3 Comparison Method 2.4 Continuity of Solutions on the Infinite Interval 0.5. Interconnected Systems 9.6 Slowly Varying Systems 97 Exercises Perturbation Theory and Averaging 10.1 The Perturbation Method 10.2 Perturbation on the Infinite Interval 0.3 Periodic Perturbation of Autonomous Systems 04 Averaging 10.5 Weakly Nonlinear Second-Order Oscillators 10.6 General Averaging 0.7 Exercises Singular Perturbations LL1 The Standard Singular Perturbation Mod 1.2 Time-Scale Properties of the Standard Model 1.3 Singular Perturbation on the Infinite Interval 1A Slow and Fast Manifolds 1.5 Stability Analysis L6 Exercises Feedback Control 1 Cortrol Problems 2.2 Stabilization via Linearization 2.3 Integral Control 2.4 Integral Control via Linearization Gain Scheduling 2.6, Exercise 13 Feedback Linearization 3.1 Motivation 3.2 Input-Output Linearization 3 FullState Linearization 3.4 State Feedback Control 134.1 Stabilization 134.2 Tracking 3.5 Exercisesx CONTEN 14 Nonlinear Design Tools J LM.1 Sliding Mode Control 14.1.1 Motivating Example 14.1.2 Stabilization 14.1.3 Tracking 14.1.4 Regulation via Integral Control 14.2 Lyapunov Redesign 14.2.1 Stabilization 14.2.2 Nonlinear Damping 4.3. Backstepping 4 Passivity-Based Control 4.5. High-Gain Observers 14.5.1 Motivating Example 14.5.2 Stabilization 14.5.8. Regulation via Integral Control 14.6 Exercises A Mathematical Review 6 B Contraction Mapping © Proofs 6 A. Proof of Theorems 3.1 and 3.2 ‘ 1.2 Proof of Lemma 3.4 ‘ 2.3 Proof of Lemma 4.1 ‘ “A. Proof of Lemma 4.3 ‘ 5 Proof of Lemma 4.4 ‘ 6 Proof of Lemma 4.5 ‘ 7 Proof of Theorem 4.16 ‘ C8 Proof of Theorem 4.17 C9. Proof of Theorem 4.18 C.10 Proof of Theorem 5.4 Ci Proof of Lemma 6.1 ‘ ‘ ‘ C112 Proof of Lemma 6.2 ' f ' f f c c c c c c c C13 Proof of Lemma 7.1 CC. Proof of Theorem 7.4 } C15 Proof of Theorems 8.1 and 8.3 C.16 Proof of Lemma 8.1 C.1T Proof of Theorem 11.1 C.18 Proof of Theorem 11.2 i C.19 Proof of Theorem 12.1 1 C.20 Proof of Theorem 12.2 C.21 Proof of Theorem 13.1 « 22 Proof of Theorem 13.2CONTENTS €.23 Proof of Theorem 14.6 Note and References Bibliography Symbols Index lit 4.3, Ido te. In 1p that vanced they can Jor classroom 4, and, on the proofs, such as stems or control le-study manner.