Nonlinear Systems, 3rd edition

Published by Pearson (December 18, 2001) © 2002
Hassan K. Khalil

Title overview

For a first-year graduate-level course on nonlinear systems. It may also be used for self-study or reference by engineers and applied mathematicians.

The text is written to build the level of mathematical sophistication from chapter to chapter. It has been reorganized into four parts: Basic analysis, Analysis of feedback systems, Advanced analysis, and Nonlinear feedback control.

  • NEW - Updated to include subjects which have proven useful in nonlinear control design in recent years—New in the 3rd edition are: expanded treatment of passivity and passivity-based control; integral control, high-gain feedback, recursive methods, optimal stabilizing control, control Lyapunov functions, and observers. Moreover, bifurcation is introduced in the context of second-order systems.
  • NEW - Over 170 new exercises.
  • NEW - The proof of the existence and uniqueness theorem has been moved to an appendix.

    • Prevents students from dealing with the contraction mapping principle in such an early chapter. Ex.___

  • NEW - Web page (www.prenhall.com/khalil)—Contains information about the book, detailed description of changes from previous editions, hints on how to organize courses around the textbook, corrections, additional exercises with or without solutions.
  • Self-contained chapters—Starting from Chapter 5, all the chapters are written to be self-contained or to use limited information from previous chapters.

    • Allows for greater flexibility.

  • Updated to include subjects which have proven useful in nonlinear control design in recent years—New in the 3rd edition are: expanded treatment of passivity and passivity-based control; integral control, high-gain feedback, recursive methods, optimal stabilizing control, control Lyapunov functions, and observers. Moreover, bifurcation is introduced in the context of second-order systems.
  • Over 170 new exercises.
  • The proof of the existence and uniqueness theorem has been moved to an appendix.

    • Prevents students from dealing with the contraction mapping principle in such an early chapter. Ex.___

  • Web page (www.prenhall.com/khalil)—Contains information about the book, detailed description of changes from previous editions, hints on how to organize courses around the textbook, corrections, additional exercises with or without solutions.

Table of contents

All chapters conclude with Exercises.

1. Introduction

  • Nonlinear Models and Nonlinear Phenomena
  • Examples

2. Second-Order Systems

  • Qualitative Behavior of Linear Systems
  • Multiple Equilibria
  • Qualitative Behavior Near Equilibrium Points
  • Limit Cycles
  • Numerical Construction of Phase Portraits
  • Existence of Periodic Orbits
  • Bifurcation
  • Systems

3. Fundamental Properties

  • Existence and Uniqueness
  • Continuous Dependence on Initial Conditions and Parameters
  • Differentiability of solutions and Sensitivity Equations
  • Comparison Principle

4. Lyapunov Stability

  • Autonomous Systems
  • The Invariance Principle
  • Linear Systems and Linearization
  • Comparison Functions
  • Nonautonomous Systems
  • Linear Time-Varying Systems and Linearization
  • Converse Theorems
  • Boundedness and Ultimate Boundedness
  • Input-to-State Stability

5. Input-Output Stability

  • L Stability
  • L Stability of State Models
  • L2 Gain
  • Feedback Systems: The Small-Gain Theorem

6. Passivity

  • Memoryless Functions
  • State Models
  • Positive Real Transfer Functions
  • L2 and Lyapunov Stability
  • Feedback Systems: Passivity Theorems

7. Frequency-Domain Analysis of Feedback Systems

  • Absolute Stability
  • The Describing Function Method

8. Advanced Stability Analysis

  • The Center Manifold Theorem
  • Region of Attraction
  • Invariance-like Theorems
  • Stability of Periodic Solutions

9. Stability of Perturbed Systems

  • Vanishing Pertubation
  • Nonvanishing Pertubation
  • Comparison Method
  • Continuity of Solutions on the Infinite Level
  • Interconnected Systems
  • Slowly Varying Systems

10. Perturbation Theory and Averaging

  • The Perturbation Method
  • Perturbation on the Infinite Level
  • Periodic Perturbation of Autonomous Systems
  • Averaging
  • Weekly Nonlinear Second-Order Oscillators
  • General Averaging

11. Singular Perturbations

  • The Standard Singular Perturbation Model
  • Time-Scale Properties of the Standard Model
  • Singular Perturbation on the Infinite Interval
  • Slow and Fast Manifolds
  • Stability Analysis

12. Feedback Control

  • Control Problems
  • Stabilization via Linearization
  • Integral Control. Integral Control via Linearization
  • Gain Scheduling

13. Feedback Linearization

  • Motivation
  • Input-Output Linearization
  • Full-State Linearization
  • State Feedback Control

14. Nonlinear Design Tools

  • Sliding Mode Control
  • Lyapunov Redesign
  • Backstepping
  • Passivity-Based Control
  • High-Gain Observers

APPENDICES

  • A. Mathematical Review
  • B. Contraction Mapping
  • C. Proofs.
  • Notes and References
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