Fundamental Limits

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Contents

  1. System Design Considerations
    • Stabilizability and Strong Stabilizability
    • Right Half-Plane Zeros and Time Delays
  2. Bode's Integral Formula
    • Derivation of Bode's Integral Formula
  3. Gain Crossover Frequency Inequality
  4. The Maximum Modulus Principle
  5. Robust Pole Placement
    • Fast Stable Process Poles
    • Slow Stable Process Zeros
    • Design Rules for Robust Pole Placement
  6. Nonlinear Effects
    • Actuation Limits
    • Measurement Noise and Friction
  7. Further Reading
Exercises
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