Contents

Chapters in this book

1. Frontmatter i
2. Contents vii
3. Preamble xiii
4. Linear systems i — basic concepts
5. Part I. System representation
6. State-space linear systems 5
7. Linearization 12
8. Causality, time invariance, and linearity 31
9. Impulse response and transfer function of state-space systems 43
10. Solutions to LTV systems 56
11. Solutions to LTI systems 64
12. Solutions to LTI systems: the Jordan normal form 76
13. Part II. Stability
14. Internal or Lyapunov stability 87
15. Input-output stability 108
16. Preview of optimal control 120
17. Part III Controllability and state feedback
18. Controllable and reachable subspaces 129
19. Controllable systems 148
20. Controllable decompositions 162
21. Stabilizability 168
22. Part IV. Observability and output feedback
23. Observability 179
24. Output feedback 198
25. Minimal realizations 210
26. Linear systems II — advanced material
27. Part V. Poles and zeros of Mimo systems
28. Smith-McMillan form 225
29. State-space poles, zeros, and minimality 235
30. System inverses 244
31. Part VI. LQR/LQG optimal control
32. Linear Quadratic Regulation (LQR) 253
33. The algebraic Riccati Equation (ARE) 260
34. Frequency domain and asymptotic properties of LQR 268
35. Output feedback 289
36. LQG/LQR and the Q parameterization 305
37. Q design 310
38. Bibliography 325
39. Index 327