1. No category

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357
Index
Aircraft
Altitude/velocity change, 113
Boeing 747, 346
Coordinated turn. ll3. 209
Glide-slope hold, 243, 328
Landing, 100, 115
Landing in gusty wind, 139, 140
Landing in worst wind, 263
Lateral Motions, 344, 346, 347
Longitudinal Motions, 343, 345
Navion,344
STOL, 115,347
Ashkenas, Irving, 176
Balas, Gary 1, 309
Bayes' Rule, 9
Bernard, Douglas, 132
Bias error, 67, 68
Best Case Controller, 286
Bicycle, robot, 100, 336
Brownian motion, 39,43
Bucy,Richard, 43
Car, lateral motions of, 110, 333
Carrier, Alain, 288
Cart with pendulum, 39, 73, 106,338
Cart with a double pendulum, 107,338
Cart with inverted pendulum, 108,
134,339
Cart w. db!. inverted pendulum, 109,
339
Certainty-equivalence principle, 125
Characteristic Equation
Reciprocal Root, 168, 181
Symmetric Root, 176, 182
Chu, Peter Y., 288
. Colored measurement noise, 308
Conjugate point, 261, 277
Compensator, 226, 256
Notch. 296
Controllability (see Disturbability)
Control
Prediction, 125
Current, 125
Controllers
Best Case (LOB), 286
Discrete LO w. SFB (TI), 184
Discrete LO w. SFB (TV), 98
Discrete LOG (TI). 224
Discrete LOG (TV), 123
Discrete LOG w. CMN (TI), 324
Discrete LOG w. CMN (TV), 316
Discrete LOW w. SFB (TI), 284
Discrete LOW w. SFB (TV), 259
Discrete LOW w. ESFB (TI), 285
Discrete LOW w. ESFB (TV), 268
Continuous LO w. SFB (TI), 201
Continuous LO w. SFB (TV), 118
Continuous LOG (TI), 240
Continuous LOG (TV), 143
Continuous LOG w. CMN (TI), 325
Continuous LOG w. CMN (TV), 319
Continuous LOW w. SFB (TI), 284
Continuous LOW w. SFB (TV), 271
Continuous LOW w. ESFB (TI), 285
Continuous LOW w. ESFB (TV), 279
Robust (continuous TI), 291
Worst Case (LOW), 258
Correlation, 23, 33
Coupling numerator (see also Transmission Zero),
176,210
Crane, overhead (see Cart with Pendulum)
359
Index
360
Density Function, 1, 2
Boltzmann, 7
Chi-Squared, 7
Conditional, 4
Gaussian, 1, 2, 3, 7
Joint, 20
Marginal,4
Rayleigh,7
Transition, 20
Uniform, 1, 2, 3, 28
Deyst, John, 258
Diaz, Sun Hur, Preface
Differential Games
Continuous, 258, 271
Discrete, 259
Disturb. -Attenuation (see Model-Following)
Disturbability .
Continuous, 61
Discrete, 48
Problem w. undisturbable mode, 72
Doyle, John C, 259, 290
Eigenvalues, generalized, 186, 209
Eigenvector decomposition
Discrete, 172, 186
Continuous, 177, 181,203
Einstein, Albert, 43
EI Ghaoui, Laurent, 288, 290, 292, 309
Englar, T., 178
Estimator (see also Filters)
A ttitude for SIC, 72
Divergence, 63, 180, 182
Dynamic, 43
Dynamic smoothing, 83
Static linear, 8
Static nonlinear, 13
VVo~tcase,264,276
Euler-Lagrange equations, 167,174,186,
190,202
Filters
Backward discrete covariance, 74
Backward discrete information, 76
Backward continuous covariance, 77
Backward continuous information, 79
Fwd. discrete covariance (Kalman). 44
Fwd. contin. cov. (Kalman-Bucy), 57
Forward continuous information, 63
Measurement differencing, 310, 322
Measurement differenciation, 312
TIme-invariant, discrete, 167
TIme-invariant, cominuous, 175
VVith discrete CMN, 308--310,321
VVith continuous CMN, 312. 325
Worst case, discrete, 264
Worst case, continuous, 276
Fisher, M., 292, 306
Followers
Continuous, 118
Discrete. 98
Francis. 1. G. E, 178
Franklin, Gene E, 125
Fraser, Donald C, 95, 258
Frazier, Malcolm. 93
Gauss. Carl Friedrich. 43
Gaussian vectors. 3
Gauss-Markov Processes (GMPs)
Discrete, 22
Continuous, 30
Converting continuous to discrete, 33
Simulation of Discrete GMp, 25
Simulation of Continuous GMP. 35
Grace, Andrew, 292, 306
Graham, Dunstan, 176
Gunckel, T. E, 125
Gupta. Narendra. 178
Gyrocompassing, orbital, 72, 349
Hall, vv. Earl, Jr., 178
Helicopter
Hughes OH6A, 347
Landing, 116, 141
Position change. 139.219,221. 237, 239, 252,
254,261,269,274
Position hold, 283-286
Takc-of~116.141.173.192.195.197,215,217.
236,250,251
Testrun,56,165,179
Transport (CH47), 192
Hermelin, Solo, 288
H-Infinity (see Worst Case Control & Estimation)
Ho, Yu-Chi, Preface, 258
Holley, VVilliam E., 179
Identification, 158
Innovations process. 145
. Integral error feedback, 199,220
Intercept, lateral
Continuous, 147, 156. 320, 332
Discrete. 102, 129, 153,262,317,332
Inverse Control, 98
Isaacs. Rufus. 258
Jacobson, David H .. 258
Juge, Matthew K., 288
Kalman. Rudolph E .. 43, 178
Lyapunov equation, 22, 25,.31
Ly, Uy-Loi, 290, 292
361
Index
Markov, A. 8., 25R
Markov random sequences, 20
Matrix
Correlation, 20
Covariance. 2
Information, 63
Inversion Lemma, 10
Lower-Triangular, 6
Upper-Triangular, 6
McReynolds, Stephen R., 260
McRuer, Duane, 176
Mills, Raymond A., 288, 290
Minimax (see Worst Case)
Model-Following
Continuous LQG, 249
. Continuous SFB. 218
Discrete LQG, 236
Discrete SFB, I'll
Montgomery, Paul M., Preface
Navigation problems
Coastal,15
Inertial, 40, ss, 69, 73, 343
Interplanetary, 16
Noise (see also Random)
Colored, 308
Process Noise in Measurernents, 67
White, 31
Wiener, 68
Nyquist Plot, 304
Observability
Continuous, 61
Discrete, 48
Orbital Gyrocompassing, 72
Parameter Identification, 158
Parameter Margin, 290
Performance, mean-square, 125, 146,225,240
Performance Index
Continuous Quadratic. 118
Conversion Contino to Disc., 188
Discrete Quadratic, 98
With Cross-product Terms, 190,212
Petersen, I. R., 259
Planetary gear rolling on sun gear, 117,341
Potter, James E., 117,258
Psiaki, Mark L., 292,306
Random
Processes, 20, 29
Scalars, 1
Sequences, 20, 21
Vectors, 1
Walk, 23, 26, 27, 29
Reid, Lloyd D., 258
Regulator, [21, 183
Rendezvous, lateral, 102, 122, 132, 332
Reservoir Volume vs. Time, 28
Rhee,I.,259
Riccati equation
Continuous. 58, 178, 202
Discrete, 45, 173, 187
Robot
Bicycle, 109,336
Flexible arm, 110, 135,207,340
Stick-person, 109,342
Unicycle, 110, 337
Root Locus
Reciprocal, 168, 184
Symmetric, 176, 204
Root Mean Square (RMS), 1
Saddle Point (see Conjugate point)
Schoonwinkel, Arnold, 337
Sensitivity functions, 160
Setpoint Fdfwd. (see Step Commands)
Smoothers
Batch, 84. 152
Continuous. '12-'15.155
Discrete, 84-92, 155
Spacecraft
Pitch Stabilization, 111,349,350
RolllYaw Stabilization, 111, 349, 351, 352
Stn. Keeping/Acquisition, 112,352,353
With Flexible Appendages, 112, 353
With Solar Sail. 112, 353
Speyer, Jason L., 258, 259
Standard Deviation, 1
Step Commands/Disturbances
Continuous LQG, 251
Continuous SFB, 218
Discrete LQG, 237
Discrete SFB, 196
Sweep Method (see Riccati Equation)
Survey
Loop, closing of a, 17
Routes, 29
Taylor, Geoffrey I., 43
Terminal Control (TC), 104-110, 121, 122,
131-142, 150
Three-spring, two-mass plant, 165
Transmission zero, 207
Triple integrator plant, 105
Triple inverted pendulum, 109, 342
Truck
Lateral motions of, 110,333
With a trailer, 111,334
With two trailers, 111,335
Two-mass/spring plant, 40,134,.165,194,198,199,
216,220,222,263,293,342
362
Index
Two-Point Boundary-Value Problem
Continuous, 92
Discrete, 85
Unicycle, robot, 110,337
Vaughan, D. R., 186
Van Loan, C. E, 188
Vibration suppression, 194, 198, 199,216,220,222,
236,238,239,250,253,254
Walker, Robert A., 178
Whittle, P., 258
Wiener, Norbert, 43, 67, 68
Wilkinson,1. H., 178
Worst Case
Controller, 258
Filter, 264, 276
Zames, George, 258
Zeros
Matching, 195, 216
Right Half Plane, 206
Transmission, 207
Zero Order Hold (ZOH),98123