Modern control system theoryBooks by the same author… Digital Control Engineering M. Gopal Recent developments in LSI technology and the consequent availability of inexpensive microprocessors, memory chips and analogtodigital converters have made it possible to use computers as integral part of control systems. This book presents control theory that is relevant to the analysis and design of computercontrolled systems. Among its features, the book:

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Introduction  1 
Linear Spaces and Linear Operators  10 
3  59 
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algorithm assumed asymptotically stable boundary conditions canonical form Chapter characteristic polynomial closedloop system coefficients column companion form constant matrix constraints control system control theory controllable and observable defined derivatives determine diagram differential equation discretetime discretetime systems discussed eigenvalues eigenvectors estimation EulerLagrange equation Example finite given by eqn HamiltonJacobi equation IEEE Trans initial conditions input integral interval Kalman Kalman filter linear regulator linear system linear timeinvariant system linearly independent Lyapunov function matrix Riccati equation method minimizes the performance Minimum Principle nonlinear obtain optimal control law optimal control problems output performance index plant poles Pontryagin's Minimum Principle positive definite real constant refer eqn regulator problem respectively result Riccati equation satisfies scalar Section semidefinite shown in Fig solution solve stability steadystate stochastic symmetric symmetric matrix Theorem timevarying trajectory transfer function transformation unique variables variance zero