实例介绍
【实例简介】
很基本的关于变分法和最优控制理论的数据 高清版本 非常适合自学 欢迎一起讨论
cwis ffirs tcx V1-10/1%/2011 5: 03pm Pagc 1-10/19/20115 OPTIMAL CONTROL Third edition FRANK L. LEWIS Department of Electrical Engineering, Automation Robotics Research Institute, University of Texas at Arlington, Arlington, Texas DRAGUNA L VRABIE United Technologies Research Renter, East Hartford, Connecticut VASSILIS L SYRMOS Department of Electrical Engineering, University of Hawaii at Manoa Honolulu, hawaii ( WILEY JOHN WILEY sons inc This book is printed on acid-free paper. @o Copyright o 2012 by John Wilcy sons, Inc. All rights Published by John Wiley Sons, Inc, Hoboken, New Jersey Published simultancously in Canada No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any mcans, clcctronic, mcchanical, photocopying, rccording, scanning, or otherwise except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923,(978)750-8400,fax(978)646-8600,oronthewebatwww.copyright.comRequeststothe Publisher for permission should be addressed to the Permissions Department, John Wiley sons Inc,111 River Street, Hoboken, NJ 07030,(201)748-6011, fax(201)748-6008, or online at www.wllcy.com/go/pcrmissions Limit of Liability /Disclaimer of Warranty: While the publisher and the author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or coMpleteness of the contents uf this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor the author shall he liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other For general information about our other products and services, please contact our Customer Care Dcpartmcnt within the Unitcd States at (800)762-2974, outside the United States at (317) 572-3993 or fax(317)572-4002 Wilcy also publishes its books in a varicty of clectronic formats. Somc content that appears in print may not be available in electronic books. For more information about wiley products, visit our websiteatwww.wileycom Library u/ Congress Cataloging-in-Publication Duta Lewis. Frank L Optimial control Frank L. Lewis, Draguna L. Rabie, Vassilis L. Syros. -3rd ed p cm Includes bibliographical references and index ISBN978-0-470633496( cloth);ISBN978-1-118-1264-8(ebk);ISBN978-1-118-12266-2(ebk ISBN978-1-118-12270-9(cbk);ISBN978-1-118-12271-6(cbk):ISBN978-1-118-12272-3(cbk) L. Control theory. 2. Mathematical optimization. I. Rabie, Draguna L. Il. Syrmos, Vassilis L. Ill TitIc QA4023.L4872012 6298312-dc23 2011028234 Printed in the United States of america 10987654321 To Galina, Roma, and Chris, who make every day exciting frank lewis To my mother and my grandmother, for teaching me my potential and supporting my every choice -Dragun rabi To my /ath -Vassilis Syros 19/20115:03 is ftcc Icx V1-10/19/2011 4: 1lpm Page vi CONTENTS PREFACE I STATIC OPTIMIZATION Optimization without Constraints / I 1.2 Optimization with equality Constraints /4 1. 3 Numerical Solution Methods /15 Problems /15 2 OPTIMAL CONTROL OF DISCRETE-TIME SYSTEMS 19 2. 1 Solution of the General Discrete-Time Optimization Problem /19 2.2 Discrete-Time Linear quadratic Regulator /32 2.3 Digital Control of Continuous-Time Systems /53 2.4 Steady-State Closed-Loop Control and Suboptimal Feedback /65 2.5 Frequency-Domain Results /96 Problems /102 3 OPTIMAL CONTROL OF CONTINUOUS-TIME SYSTEMS 3.1 The Calculus of variations /110 2 Solution of the General Continuous-Time Optimization Problem /112 3.3 Continuous-Time Lincar Quadratic Regulator /135 cwis ftoc. tex V1-10/19/2011 4: lpm Page vi CONTENTS 3.4 Steady-State Closed-Loop Control and Suboptimal Feedback /154 3.5 Frequency-Domain Results /164 Problems /167 4 THE TRACKING PROBLEM AND OTHER LQR EXTENSIONS 177 4.1 The Tracking Problem /177 4.2 Regulator with function of final state fixed/ 183 4.3 Second-Order Variations in the Performance Index /185 4.4 The Discrete-Time Tracking Problem /190 4.5 Discrete Regulator with Function of Final State Fixed/199 4.6 Discrete Second-Order variations in the Performance Index /206 Problems /211 5 FINAL-TIME-FREE AND CONSTRAINED INPUT CONTROL 213 5.1 Final-Time-Free Problems /213 5.2 Constrained Input Problems /232 Problems /257 6 DYNAMIC PROGRAMMING 260 6.1 Bellman's Principle of optimality /260 6.2 Discrete-Time Systems /263 6.3 Continuous-Time Systems /271 Problems /283 7 OPTIMAL CONTROL FOR POLYNOMIAL SYSTEMS 287 7.1 Discrete Linear Quadratic Regulator /287 7.2 Digital Control of Continuous-Time Systems /292 Problems /295 8 OUTPUT FEEDBACK AND STRUCTURED CONTROL 297 8.1 Linear Quadratic Regulator with Output Feedback /297 8.2 Tracking a Reference Input /313 8.3 Tracking by Regulator Redesign /327 8.4 Command-Generator Tracker /331 8.5 Explicit Model-Following /338 8.6 Output Feedback in Game Theory and Decentralized Control /343 Problems /351 Lewis ftoe. tex V1-10/19/2011 4: lpm Pagc ix CONTENTS IX 9 ROBUSTNESS AND MULTIVARIABLE FREQUENCY-DOMAIN TECHNIQUES 355 9.1 Introduction /355 9.2 Multivariable Frequency-Domain Analysis /357 9.3 Robust Output-Feedback Design /380 9. 4 Observers and the Kalman filter/38 9.5 LQG/Loop-Transfer Recovery /408 9.6H。 DESIGN/430 Problems /435 10 DIFFERENTIAL GAMES 438 0. 1 Optimal Control Derived Using Pontryagin's Minimum Principle and the bellman equation /439 10.2 Two-player Zero-sum Games /444 10.3 Application of Zero-sum Games to Hoo Control /450 10.4 Multiplayer Non-zero-sum Games /453 11 REINFORCEMENT LEARNING AND OPTIMAL ADAPTIVE CONTROL 401 11.1 Reinforcement Learning /462 11.2 Markov decision processes /464 11.3 Policy evaluation and Policy Improvement /474 11.4 Temporal Difference Learning and Optimal Adaptive Control /489 11.5 Optimal Adaptive Control for Discrete-time Systems /490 11.6 Integral Reinforcement Learning for Optimal Adaptive Control of Continuous-time Systems /503 11.7 Synchronous Optimal Adaptive Control for Continuous-time Systems /513 APPENDIX A REVIEW OF MATRIX ALGEBRA 518 AI Basic definitions and facts /sl 8 A 2 Partitioned Matrices /519 A3 Quadratic Forms and Definiteness /521 A 4 Matrix Calculus /523 A.5 The Generalized eigenvalue Problem /525 REFERENCES 527 INDEX 35 【实例截图】
【核心代码】
很基本的关于变分法和最优控制理论的数据 高清版本 非常适合自学 欢迎一起讨论
cwis ffirs tcx V1-10/1%/2011 5: 03pm Pagc 1-10/19/20115 OPTIMAL CONTROL Third edition FRANK L. LEWIS Department of Electrical Engineering, Automation Robotics Research Institute, University of Texas at Arlington, Arlington, Texas DRAGUNA L VRABIE United Technologies Research Renter, East Hartford, Connecticut VASSILIS L SYRMOS Department of Electrical Engineering, University of Hawaii at Manoa Honolulu, hawaii ( WILEY JOHN WILEY sons inc This book is printed on acid-free paper. @o Copyright o 2012 by John Wilcy sons, Inc. All rights Published by John Wiley Sons, Inc, Hoboken, New Jersey Published simultancously in Canada No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any mcans, clcctronic, mcchanical, photocopying, rccording, scanning, or otherwise except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923,(978)750-8400,fax(978)646-8600,oronthewebatwww.copyright.comRequeststothe Publisher for permission should be addressed to the Permissions Department, John Wiley sons Inc,111 River Street, Hoboken, NJ 07030,(201)748-6011, fax(201)748-6008, or online at www.wllcy.com/go/pcrmissions Limit of Liability /Disclaimer of Warranty: While the publisher and the author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or coMpleteness of the contents uf this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor the author shall he liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other For general information about our other products and services, please contact our Customer Care Dcpartmcnt within the Unitcd States at (800)762-2974, outside the United States at (317) 572-3993 or fax(317)572-4002 Wilcy also publishes its books in a varicty of clectronic formats. Somc content that appears in print may not be available in electronic books. For more information about wiley products, visit our websiteatwww.wileycom Library u/ Congress Cataloging-in-Publication Duta Lewis. Frank L Optimial control Frank L. Lewis, Draguna L. Rabie, Vassilis L. Syros. -3rd ed p cm Includes bibliographical references and index ISBN978-0-470633496( cloth);ISBN978-1-118-1264-8(ebk);ISBN978-1-118-12266-2(ebk ISBN978-1-118-12270-9(cbk);ISBN978-1-118-12271-6(cbk):ISBN978-1-118-12272-3(cbk) L. Control theory. 2. Mathematical optimization. I. Rabie, Draguna L. Il. Syrmos, Vassilis L. Ill TitIc QA4023.L4872012 6298312-dc23 2011028234 Printed in the United States of america 10987654321 To Galina, Roma, and Chris, who make every day exciting frank lewis To my mother and my grandmother, for teaching me my potential and supporting my every choice -Dragun rabi To my /ath -Vassilis Syros 19/20115:03 is ftcc Icx V1-10/19/2011 4: 1lpm Page vi CONTENTS PREFACE I STATIC OPTIMIZATION Optimization without Constraints / I 1.2 Optimization with equality Constraints /4 1. 3 Numerical Solution Methods /15 Problems /15 2 OPTIMAL CONTROL OF DISCRETE-TIME SYSTEMS 19 2. 1 Solution of the General Discrete-Time Optimization Problem /19 2.2 Discrete-Time Linear quadratic Regulator /32 2.3 Digital Control of Continuous-Time Systems /53 2.4 Steady-State Closed-Loop Control and Suboptimal Feedback /65 2.5 Frequency-Domain Results /96 Problems /102 3 OPTIMAL CONTROL OF CONTINUOUS-TIME SYSTEMS 3.1 The Calculus of variations /110 2 Solution of the General Continuous-Time Optimization Problem /112 3.3 Continuous-Time Lincar Quadratic Regulator /135 cwis ftoc. tex V1-10/19/2011 4: lpm Page vi CONTENTS 3.4 Steady-State Closed-Loop Control and Suboptimal Feedback /154 3.5 Frequency-Domain Results /164 Problems /167 4 THE TRACKING PROBLEM AND OTHER LQR EXTENSIONS 177 4.1 The Tracking Problem /177 4.2 Regulator with function of final state fixed/ 183 4.3 Second-Order Variations in the Performance Index /185 4.4 The Discrete-Time Tracking Problem /190 4.5 Discrete Regulator with Function of Final State Fixed/199 4.6 Discrete Second-Order variations in the Performance Index /206 Problems /211 5 FINAL-TIME-FREE AND CONSTRAINED INPUT CONTROL 213 5.1 Final-Time-Free Problems /213 5.2 Constrained Input Problems /232 Problems /257 6 DYNAMIC PROGRAMMING 260 6.1 Bellman's Principle of optimality /260 6.2 Discrete-Time Systems /263 6.3 Continuous-Time Systems /271 Problems /283 7 OPTIMAL CONTROL FOR POLYNOMIAL SYSTEMS 287 7.1 Discrete Linear Quadratic Regulator /287 7.2 Digital Control of Continuous-Time Systems /292 Problems /295 8 OUTPUT FEEDBACK AND STRUCTURED CONTROL 297 8.1 Linear Quadratic Regulator with Output Feedback /297 8.2 Tracking a Reference Input /313 8.3 Tracking by Regulator Redesign /327 8.4 Command-Generator Tracker /331 8.5 Explicit Model-Following /338 8.6 Output Feedback in Game Theory and Decentralized Control /343 Problems /351 Lewis ftoe. tex V1-10/19/2011 4: lpm Pagc ix CONTENTS IX 9 ROBUSTNESS AND MULTIVARIABLE FREQUENCY-DOMAIN TECHNIQUES 355 9.1 Introduction /355 9.2 Multivariable Frequency-Domain Analysis /357 9.3 Robust Output-Feedback Design /380 9. 4 Observers and the Kalman filter/38 9.5 LQG/Loop-Transfer Recovery /408 9.6H。 DESIGN/430 Problems /435 10 DIFFERENTIAL GAMES 438 0. 1 Optimal Control Derived Using Pontryagin's Minimum Principle and the bellman equation /439 10.2 Two-player Zero-sum Games /444 10.3 Application of Zero-sum Games to Hoo Control /450 10.4 Multiplayer Non-zero-sum Games /453 11 REINFORCEMENT LEARNING AND OPTIMAL ADAPTIVE CONTROL 401 11.1 Reinforcement Learning /462 11.2 Markov decision processes /464 11.3 Policy evaluation and Policy Improvement /474 11.4 Temporal Difference Learning and Optimal Adaptive Control /489 11.5 Optimal Adaptive Control for Discrete-time Systems /490 11.6 Integral Reinforcement Learning for Optimal Adaptive Control of Continuous-time Systems /503 11.7 Synchronous Optimal Adaptive Control for Continuous-time Systems /513 APPENDIX A REVIEW OF MATRIX ALGEBRA 518 AI Basic definitions and facts /sl 8 A 2 Partitioned Matrices /519 A3 Quadratic Forms and Definiteness /521 A 4 Matrix Calculus /523 A.5 The Generalized eigenvalue Problem /525 REFERENCES 527 INDEX 35 【实例截图】
【核心代码】
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