Nonlinear Control Systems (control Engineering, 13)

CONTROL Zoran VukiC Ljubomir KuljaCa University of Zagreb Zagreb, Croatia Dali DonlagiC University of Maribor Maribol; Slovenia Sejid TeSnja k University of Zagreb Zagreb, Croatia m MARCEL DEKKER MARCEL DEKKER, INC. . NEWYORK BASEL Library of Congress Cataloging-in-Publication Data A catalog record for this book is available from the Library of Congress. ISBN: 0-8247-4112-9 This book is printed on acid-free paper. Headquarters Marcel Dekker, Inc. 270 Madison Avenue, New York, NY 10016 tel: 212-696-9000; fax: 212-685-4540 Eastern Hemisphere Distribution Marcel Dekker AG Hutgasse 4, Postfach 812, CH-4001 Basel, Switzerland tel: 41-61-260-6300; fax: 41-61-260-6333 World Wide Web http://www.dekker.com The publisher offers discounts on this book when ordered in bulk quantities. For more information, write to Special SalesProfessional Marketing at the headquarters address above. Copyright 02003 by Marcel Dekker, Inc. All Rights Reserved. Neither this book nor any part may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, microfilming, and recording, or by any information storage and retrieval system, without permission in writing from the publisher. Current printing (last digit): 10 9 8 7 6 5 4 3 2 1 PRINTED IN THE UNITED STATES OF AMERICA CONTROL ENGINEERING A Series of Reference Books and Textbooks Editor NEIL MUNRO, PH.D.,D.Sc. Professor Applied Control Engineering University of Manchester Institute of Science and Technology Manchester, United Kingdom 1. Nonlinear Control of Electric Machinery, Darren M. Dawson, Jun Hu, and Timothy C. Burg 2. Computational Intelligence in Control Engineering, Robert E. King 3. Quantitative Feedback Theory: Fundamentals and Applications, Constantine H. Houpis and Steven J. Rasmussen 4. Self-Learning Control of Finite Markov Chains, A. S. Poznyak, K. Najim, and E. Gomez-Ramirez 5. Robust Control and Filtering for Time-Delay Systems, Magdi S. Mahmoud 6. Classical Feedback Control: With MATLAB, Boris J. Lurie and Paul J. Enright 7. Optimal Control of Singularly Perturbed Linear Systems and Applications: High-Accuracy Techniques, Zoran Gajik and Myo-Taeg Lim 8. Engineering System Dynamics: A Unified Graph-Centered Approach, Forbes T. Brown 9. Advanced Process Identification and Control, Enso lkonen and Kaddour Najim 10. Modern Control Engineering, P. N. Paraskevopoulos 11. Sliding Mode Control in Engineering, edited by Wi/frid Perruquetti and Jean Pierre Barbot 12. Actuator Saturation Control, edited by Vikram Kapila and Karolos M. Grigoriadis 13. Nonlinear Control Systems, Zoran VukiC, Ljubomir KuljaCa, Dali Oonlagic, Sejid TeSnjak Additional Volumes in Preparation Series Introduction Many textbooks have been written on control engineering, describing new techniques for controlling systems, or new a n d better ways of mathematically formulating existing methods to solve the everincreasing complex problems faced by practicing engineers. However, few of these books fully address the applications aspects of control engineering. I t is