Nonlinear Control Systems
暫譯: 非線性控制系統

本書的目的是提供一個自足的非線性控制系統理論基礎的描述，特別強調微分幾何方法。本書旨在作為研究生教材，同時也作為參考資料，供參與反饋系統分析和設計的科學家和工程師使用。本書的第一版於1983年撰寫，當時我在聖路易斯華盛頓大學的系統科學與數學系任教。這一新版整合了我在1987年於伊利諾伊大學香檳分校、1987年於卡爾-克蘭茲協會（Carl-Cranz Gesellschaft）及1988年於加州大學伯克利分校的後續教學經驗。除了對第一版最後兩章進行重大重組外，這一新版還新增了兩章更基礎的內容，以及自1985年以來出現的一些相關研究成果的闡述。

Alberto Isidori was born in Rapallo, Italy. He graduated in electrical engineering from the University of Rome in 1965. In 1969 he obtained a degree equivalent to a doctorate in automatic control from the University of Rome.

Since 1975, he has been Professor of Automatic Control at the University of Rome "La Sapienza". Since 1989, he has also held a position of rofessor (on a half-time basis) at the Department of Systems Science and Mathematics, Washington University, St. Louis, Missouri. He has held visiting positions at several academic institutions, including the University of Illinois (Urbana, Il.), the University of California (Berkeley, Ca.) and the ETH (Zurich, Switzerland).

His research interests are primarily focused on mathematical control theory and control engineering.

In 1979, Alberto Isidori initiated a research program aimed at the extension of so-called "geometric theory" of multivariable linear systems, pioneered in the early 1970s by various authors, to linear systems. Linear algebra and linear geometric methods were replaced in nonlinear systems by the methods of differential geometry, whose usefulness in the study of controllability, observability, and minimality of nonlinear systems had been demonstrated in the early 70s. The main intuition of Isidori was to use differential geometric methods in the synthesis of feedback laws for nonlinear systems, more or less in the same way as linear geometric methods were used in the synthesis of feedback laws for linear systems. The result of this seminal work was the development of systematic methods addressing outstanding design problems like feedback linearization, noninteracting control, disturbance decoupling, and model matching.

From 1985 to 1990 Isidori's research concentrated on the development of the "nonlinear analogue" of the notion of the "zero" of a transfer function. Taking as a point of departure the "geometric" interpretation of this notion, the concept of nonlinear zero dynamics was introduced, studied, and applied. As a result, it was shown that most of the features of the notion of zeros of the transfer function of a linear system are actually manifestations of more general principles. Remarkable examples of application of this theory consisted in the study and the solution of the nonlinear equivalent of the so-called "servomechanism problem" of linear system theory and in the characterization of the conditions for feedback equivalence to a nonlinear passive system.

Since the 90s, Isidori has focused his research interests on problems of disturbance attenuation and robust stabilization of nonlinear systems.

Professional Activities

-President of the European Union Control Association (1995-1997).
-Member of the IFAC Council (1993-1996).

-President-elect of IFAC (three-year term to begin following IFAC World Congress in Seoul 2008)
-On the Editorial Board of: European Journal of Control (since 1995), Automatica (since 1990), IEEE Transactions on Automatic Control (since 1990), International Journal of Control (since 1990), International Journal of Robust and Nonlinear Control (since 1991), Journal of Mathematical Systems, Estimation and Control (since 1991), Mathematics of Control, Signals and Systems (1987-89), Applied Stochastic Models and Data Analysis (since 1985), Systems and Control Letters (1981-88).

Awards and Honors

-Georgio Quazza Medal of IFAC, for ?pionering and fundamental contributions to the theory of nonlinear control, ? 1996.
-Fellow of the Institute of Electrical and Electronic Engineers, for ?fundamental contributions to nonlinear control theory?, 1987.
-Outstanding Paper Award for papers published on IEEE Transactions on Automatic Control, in 1981 and in 1990.
-Outstanding Paper Award a paper published on Automatica in1991.

Selected Publications

Nonlinear Control Systems (3rd edition), Springer Verlag (1995), pp. 1-549.

Topics in Control Theory, with W. Knobloch and D. Flockerzi, Berkhauser (1993), pp. 1-166.

Output Regulation of Uncertain Nonlinear Systems, with C.I. Byrnes and F. Delli Priscoli, Birkhauser (1997), pp. 1-122.

Trends in Control Theory (editor), Springer Verlag (1995), pp. 1-422.

Systems, Models and Feedback (co-editor, with T.J. Tarn), Birkhauser (1992), pp. 1-402.

阿爾貝托·伊西多里（Alberto Isidori）出生於意大利的拉帕洛（Rapallo）。他於1965年畢業於羅馬大學，獲得電機工程學位。1969年，他在羅馬大學獲得相當於博士的自動控制學位。

自1975年以來，他一直擔任羅馬大學「拉薩比恩扎」（La Sapienza）自動控制教授。自1989年起，他還在美國密蘇里州聖路易斯的華盛頓大學系統科學與數學系擔任半職教授。他曾在多所學術機構擔任訪問職位，包括伊利諾伊大學（University of Illinois, Urbana, Il.）、加州大學（University of California, Berkeley, Ca.）和瑞士聯邦理工學院（ETH, Zurich, Switzerland）。

他的研究興趣主要集中在數學控制理論和控制工程上。

在1979年，阿爾貝托·伊西多里啟動了一項研究計劃，旨在將所謂的多變量線性系統的「幾何理論」擴展到線性系統。這一理論在1970年代初由多位作者開創。線性代數和線性幾何方法在非線性系統中被微分幾何的方法所取代，這些方法在70年代初期已經證明了其在研究非線性系統的可控性、可觀性和最小性方面的有效性。伊西多里的主要直覺是使用微分幾何方法來合成非線性系統的反饋法則，這與線性系統的反饋法則合成中使用線性幾何方法的方式大致相同。這項開創性工作的結果是發展出系統的方法來解決一些突出的設計問題，如反饋線性化、非互動控制、擾動解耦和模型匹配。

從1985年到1990年，伊西多里的研究集中在發展「非線性類比」的傳遞函數「零點」的概念。以這一概念的「幾何」解釋為出發點，引入、研究並應用非線性零動力學的概念。結果顯示，線性系統的傳遞函數零點的概念的許多特徵實際上是更一般原則的表現。這一理論的顯著應用例子包括研究和解決線性系統理論中所謂的「伺服機構問題」的非線性等價問題，以及對反饋等價於非線性被動系統的條件進行特徵化。

自90年代以來，伊西多里將研究重點放在非線性系統的擾動衰減和穩健穩定化問題上。

專業活動
- 歐洲聯盟控制協會（European Union Control Association）會長（1995-1997）。
- IFAC理事會成員（1993-1996）。
- IFAC當選會長（三年任期，將於2008年首爾IFAC世界大會後開始）。
- 擔任以下期刊的編輯委員會成員：European Journal of Control（自1995年起）、Automatica（自1990年起）、IEEE Transactions on Automatic Control（自1990年起）、International Journal of Control（自1990年起）、International Journal of Robust and Nonlinear Control（自1991年起）、Journal of Mathematical Systems, Estimation and Control（自1991年起）、Mathematics of Control, Signals and Systems（1987-89）、Applied Stochastic Models and Data Analysis（自1985年起）、Systems and Control Letters（1981-88）。

獎項與榮譽
- IFAC的喬治·夸扎獎章（Georgio Quazza Medal of IFAC），以表彰其對非線性控制理論的開創性和基本貢獻，1996年。
- 電氣與電子工程師學會（Institute of Electrical and Electronic Engineers）會士，以表彰其對非線性控制理論的基本貢獻，1987年。
- 1981年和1990年在IEEE Transactions on Automatic Control上發表的論文獲得優秀論文獎。
- 1991年在Automatica上發表的論文獲得優秀論文獎。

選定出版物
Nonlinear Control Systems（第三版），Springer Verlag（1995年），第1-549頁。
Topics in Control Theory，與W. Knobloch和D. Flockerzi合著，Birkhauser（1993年），第1-166頁。
Output Regulation of Uncertain Nonlinear Systems，與C.I. Byrnes和F. Delli Priscoli合著，Birkhauser（1997年），第1-122頁。
Trends in Control Theory（編輯），Springer Verlag（1995年），第1-422頁。
Systems, Models and Feedback（共同編輯，與T.J. Tarn），Birkhauser（1992年），第1-402頁。