With respect to the first edition as Volume 218 in the Lecture Notes in Con trol and Information Sciences series the basic idea of the second edition has remained the same: to provide a compact presentation of some basic ideas in the classical theory of input-output and closed-loop stability, together with a choice of contributions to the recent theory of nonlinear robust and 1foo control and passivity-based control. Nevertheless, some parts of the book have been thoroughly revised and/or expanded, in order to have a more balanced presen tation of the theory and to include some of the new developments which have been taken place since the appearance of the first edition. I soon realized, how ever, that it is not possible to give a broad exposition of the existing literature in this area without affecting the spirit of the book, which is precisely aimed at a compact presentation. So as a result the second edition still reflects very much my personal taste and research interests. I trust that others will write books emphasizing different aspects. Major changes with respect to the first edition are the following: • A new section has been added in Chapter 2 relating L2-gain and passivity via scattering, emphasizing a coordinate-free, geometric, treatment. • The section on stability in Chapter 3 has been thoroughly expanded, also incorporating some recent results presented in [182J.

Passivity-based Control is a topical issue within control engineering today All of the chapters in the second edition of this well-received book have been updated and expanded This balanced book incorporates concise and informative discussions of fundamental theories and recent developments within the field of nonlinear control

Autorentext

A.J. (Arjan) van der Schaft (1955) received the undergraduate and Ph.D. degrees in Mathematics from the University of Groningen, The Netherlands, in 1979 and 1983, respectively. In 1982 he joined the Department of Applied Mathematics, University of Twente, Enschede, where he was appointed as a full professor in Mathematical Systems and Control Theory in 2000. In September 2005 he returned to Groningen as a full professor in Mathematics. He has served as Associate Editor for Systems & Control Letters, Journal of Nonlinear Science, SIAM Journal on Control and Optimization, IEEE Transactions on Automatic Control and the European Journal of Control. Currently he is on the Editorial Board for the Journal of Geometric Mechanics and Annual Reviews in Control. Arjan van der Schaft is Fellow of the Institute of Electrical and Electronics Engineers (IEEE) and of the International Federation of Automatic Control (IFAC). He was Invited Lecturer at the International Congress of Mathematicians, Madrid, Spain, 2006. He is the 2013 recipient of the 3-yearly awarded Certificate of Excellent Achievements} of the IFAC Technical Committee on Nonlinear Systems. Arjan van der Schaft is (co-)author of the following other books: System Theoretic Descriptions of Physical Systems (1984), Variational and Hamiltonian Control Systems (1987, with P.E. Crouch), Nonlinear Dynamical Control Systems (1990, with H. Nijmeijer), An Introduction to Hybrid Dynamical Systems (2000, with J.M. Schumacher), Modeling and Control of Complex Physical Systems: the Port-Hamiltonian Approach( Geoplex Consortium, 2009), and Port-Hamiltonian Systems Theory: An Introductory Overview (2014, with D. Jeltsema). He (co-)edited five conference proceedings. He (co-)authored around 125 journal articles and 265 refereed contributions to proceedings or book chapters.

Klappentext

With respect to the first edition as Volume 218 in the Lecture Notes in Con­ trol and Information Sciences series the basic idea of the second edition has remained the same: to provide a compact presentation of some basic ideas in the classical theory of input-output and closed-loop stability, together with a choice of contributions to the recent theory of nonlinear robust and 1foo control and passivity-based control. Nevertheless, some parts of the book have been thoroughly revised and/or expanded, in order to have a more balanced presen­ tation of the theory and to include some of the new developments which have been taken place since the appearance of the first edition. I soon realized, how­ ever, that it is not possible to give a broad exposition of the existing literature in this area without affecting the spirit of the book, which is precisely aimed at a compact presentation. So as a result the second edition still reflects very much my personal taste and research interests. I trust that others will write books emphasizing different aspects. Major changes with respect to the first edition are the following: A new section has been added in Chapter 2 relating L2-gain and passivity via scattering, emphasizing a coordinate-free, geometric, treatment. The section on stability in Chapter 3 has been thoroughly expanded, also incorporating some recent results presented in [182J.

Zusammenfassung
This text discusses fundamental theories of nonlinear control. It details the small-gain and passivity theorems, and recent developments in nonlinear passivity-based and robust H-infinity control. This edition also includes new material on feedback passifiability.

Inhalt
1 Input-Output Stability.- 2 Small-gain and Passivity of Input-Output Maps.- 3 Dissipative Systems Theory.- 4 Hamiltonian Systems as Passive Systems.- 5 Passivity by Feedback.- 6 Factorizations of Nonlinear Systems.- 7 Nonlinear H? Control.- 8 Hamilton-Jacobi Inequalities.