2nd Edition

The Control Handbook (three volume set)

Edited By William S. Levine
    3526 Pages 500 B/W Illustrations
    by CRC Press

    At publication, The Control Handbook immediately became the definitive resource that engineers working with modern control systems required. Among its many accolades, that first edition was cited by the AAP as the Best Engineering Handbook of 1996.

    Now, 15 years later, William Levine has once again compiled the most comprehensive and authoritative resource on control engineering. He has fully reorganized the text to reflect the technical advances achieved since the last edition and has expanded its contents to include the multidisciplinary perspective that is making control engineering a critical component in so many fields.

    Now expanded from one to three volumes, The Control Handbook, Second Edition brilliantly organizes cutting-edge contributions from more than 200 leading experts representing every corner of the globe. They cover everything from basic closed-loop systems to multi-agent adaptive systems and from the control of electric motors to the control of complex networks. Progressively organized, the three volume set includes:

  • Control System Fundamentals
  • Control System Applications
  • Control System Advanced Methods
  • Any practicing engineer, student, or researcher working in fields as diverse as electronics, aeronautics, or biomedicine will find this handbook to be a time-saving resource filled with invaluable formulas, models, methods, and innovative thinking. In fact, any physicist, biologist, mathematician, or researcher in any number of fields developing or improving products and systems will find the answers and ideas they need. As with the first edition, the new edition not only stands as a record of accomplishment in control engineering but provides researchers with the means to make further advances.






    SECTION I Mathematical Foundations

    Ordinary Linear Differential and Difference Equations, B.P. Lathi

    The Fourier, Laplace, and z-Transforms, Edward W. Kamen

    Matrices and Linear Algebra, Bradley W. Dickinson

    Complex Variables, C. W. Gray

    SECTION II Models for Dynamical Systems

    Standard Mathematical Models, William S. Levine, James T. Gillis, Graham C. Goodwin, Juan C. Agüero, Juan I. Yuz, Harry L. Trentelman, and Richard Hill

    Graphical Models, Dean K. Frederick, Charles M. Close, and Norman S. Nise

    SECTION III Analysis and Design Methods for Continuous-Time Systems

    Analysis Methods, Raymond T. Stefani and William A. Wolovich

    Stability Tests, Robert H. Bishop, Richard C. Dorf, Charles E. Rohrs, Mohamed Mansour, and Raymond T. Stefani

    Design Methods, Jiann-Shiou Yang, William S. Levine, Richard C. Dorf, Robert H. Bishop, John J. D’Azzo, Constantine H. Houpis, Karl J. Åstr¨om, Tore H¨agglund, Katsuhiko Ogata, Masako Kishida, Richard D. Braatz, Z. J. Palmor, Mario E. Salgado, and Graham C. Goodwin

    SECTION IV Digital Control

    Discrete-Time Systems, Michael Santina and Allen R. Stubberud

    Sampled Data Systems, A. Feuer and Graham C. Goodwin

    Discrete-Time Equivalents to Continuous-Time Systems, Michael Santina and Allen R. Stubberud

    Design Methods for Discrete-Time, Linear Time-Invariant Systems, Michael Santina and Allen R. Stubberud

    Quantization Effects, Michael Santina, Allen R. Stubberud, and Peter Stubberud

    Sample-Rate Selection, Michael Santina and Allen R. Stubberud

    Real-Time Software for Implementation of Feedback Control, David M. Auslande, John R. Ridgely, and Jason C. Jones

    Programmable Controllers, Gustaf Olsson

    SECTION V Analysis and Design Methods for Nonlinear Systems

    Analysis Methods, Derek P. Atherton

    Design Methods, R. H. Middleton, Stefan F. Graebe, Anders Ahlén, and Jeff S. Shamma








    SECTION I Automotive

    Linear Parameter-Varying Control of Continuous-Time Nonlinear Systems, Hans P. Gerring

    Powertrain Control, Davor Hrovat, Mrdjan Jankovic, Ilya Kolmanovsky, Stephen Magner, and Diana Yanakiev

    Vehicle Controls, Davor Hrovat, H. E. Tseng, J. Lu, Josko Deur, F. Assadian, F. Borrelli, and P. Falcone

    Model-Based Supervisory Control for Energy Optimization of Hybrid-Electric Vehicles, Lino Guzzella and Antonio Sciarretta

    Purge Scheduling for Dead-Ended Anode Operation of PEM Fuel Cells, Jason B. Siegel, Anna G. Stefanopoulou, Giulio Ripaccioli, and Stefano Di Cairano

    SECTION II Aerospace

    Aerospace Real-Time Control System and Software, Rongsheng (Ken) Li and Michael Santina

    Stochastic Decision Making and Aerial Surveillance Control Strategies for Teams of Unmanned Aerial Vehicles, Raymond W. Holsapple, John J. Baker, and Amir J. Matlock

    Control Allocation, Michael W. Oppenheimer, David B. Doman, and Michael A. Bolender

    Swarm Stability, Veysel Gazi and Kevin M. Passino

    SECTION III Industrial

    Control of Machine Tools and Machining Processes, Jaspreet S. Dhupia and A. Galip Ulsoy

    Process Control in Semiconductor Manufacturing, Thomas F. Edgar

    Control of Polymerization Processes, Babatunde Ogunnaike, Grégory François, Masoud Soroush, and Dominique Bonvin

    Multiscale Modeling and Control of Porous Thin Film Growth, Gangshi Hu, Xinyu Zhang, Gerassimos Orkoulas, and Panagiotis D. Christofides

    Control of Particulate processes, Mingheng Li and Panagiotis D. Christofides

    Nonlinear Model Predictive Control for Batch Processes, Zoltan K. Nagy and Richard D. Braatz

    The Use of Multivariate Statistics in Process Control, Michael J. Piovoso and Karlene A. Hoo

    Plantwide Control, Karlene A. Hoo

    Automation and Control Solutions for Flat Strip Metal Processing, Francesco Alessandro Cuzzola, Thomas Parisini

    SECTION IV Biological and Medical

    Model-Based Control of Biochemical Reactors, Michael A. Henson

    Robotic Surgery, Rajesh Kumar

    Stochastic Gene Expression: Modeling, Analysis, and Identification, Mustafa Khammash and Brian Munsky

    Modeling the Human Body as a Dynamical System: Applications to Drug Discovery and Development, M. Vidyasagar

    SECTION V Electronics

    Control of Brushless DC Motors, Farhad Aghili

    Hybrid Model Predictive Control of the Boost Converter, Raymond A. DeCarlo, Jason C. Neely, and Steven D. Pekarek

    SECTION VI Networks

    The SNR Approach to Networked Control, Eduardo I. Silva, Juan C. Agüero, Graham C. Goodwin, Katrina Lau, and Meng Wang

    Optimization and Control of Communication Networks, Srinivas Shakkottai and Atilla Eryilmaz

    SECTION VII Miscellaneous

    Advanced Motion Control Design, Maarten Steinbuch, Roel J.E. Merry, Matthijs L.G. Boerlage, Michael J.C. Ronde, and M.L.G. René van de Molengraft

    Color Controls: An Advanced Feedback System, Lalit K. Mestha and Alvaro E. Gil

    The Construction of Portfolios of Financial Assets: An Application of Optimal Stochastic Control, Charles E. Rohrs and Melanie B. Rudoy

    Earthquake Response Control for Civil Structures, Jeff T. Scruggs and Henri P. Gavin

    Quantum Estimation and Control, Matthew R. James and Robert Kosut

    Motion Control of Marine Craft, Tristan Perez and Thor I. Fossen

    Control of Unstable Oscillations in Flows, Anuradha M. Annaswamy and Seunghyuck Hong

    Modeling and Control of Air Conditioning and Refrigeration Systems, Andrew Alleyne, Vikas Chandan, Neera Jain, Bin Li, and Rich Otten








    SECTION I Analysis Methods for MIMO Linear Systems

    Numerical and Computational Issues in Linear Control and System Theory, A.J. Laub, R.V. Patel, and P.M. Van Dooren

    Multivariable Poles, Zeros, and Pole-Zero Cancellations, Joel Douglas and Michael Athans

    Fundamentals of Linear Time-Varying Systems, Edward W. Kamen

    Balanced Realizations, Model Order Reduction, and the Hankel Operator, Jacquelien M.A. Scherpen

    Geometric Theory of Linear Systems, Fumio Hamano

    Polynomial and Matrix Fraction Descriptions, David F. Delchamps

    Robustness Analysis with Real Parametric Uncertainty, Robert Tempo and F. Blanchini

    MIMO Frequency Response Analysis and the Singular Value Decomposition, Stephen D. Patek and Michael Athans

    Stability Robustness to Unstructured Uncertainty for Linear Time Invariant Systems, Alan Chao and Michael Athans

    Trade-Offs and Limitations in Feedback Systems, Douglas P. Looze, James S. Freudenberg, J.H. Braslavsky, and R.H. Middleton

    Modeling Deterministic Uncertainty, Jörg Raisch and Bruce Francis

    SECTION II Kalman Filter and Observers

    Linear Systems and White Noise, William S. Levine

    Kalman Filtering, Michael Athans

    Riccati Equations and their Solution, Vladimír Kucera

    Observers, Bernard Friedland

    SECTION III Design Methods for MIMO LTI Systems

    Eigenstructure Assignment, Kenneth M. Sobel, Eliezer Y. Shapiro, and Albert N. Andry, Jr.

    Linear Quadratic Regulator Control, Leonard Lublin and Michael Athans

    H2 (LQG) and H8 Control, Leonard Lublin, Simon Grocott, and Michael Athans

    l1 Robust Control: Theory, Computation, and Design, Munther A. Dahleh

    The Structured Singular Value (µ) Framework, Gary J. Balas and Andy Packard

    Algebraic Design Methods, Vladimír Kucera

    Quantitative Feedback Theory (QFT) Technique, Constantine H. Houpis

    Robust Servomechanism Problem, Edward J. Davison

    Linear Matrix Inequalities in Control, Carsten Scherer and Siep Weiland

    Optimal Control, F.L. Lewis

    Decentralized Control, M.E. Sezer and D.D. Šiljak

    Decoupling, Trevor Williams and Panos J. Antsaklis

    Linear Model Predictive Control in the Process Industries, Jay H. Lee

    SECTION IV Analysis and Design of Hybrid Systems

    Computation of Reach Sets for Dynamical Systems, Alex A. Kurzhanskiy and Pravin Varaiya

    Hybrid Dynamical Systems: Stability and Stabilization, Hai Lin and Panos J. Antsaklis

    Optimal Control of Switching Systems via Embedding into Continuous Optimal Control Problem, Sorin Bengea, Kasemsak Uthaichana, Milos Zefran, and Ray DeCarlo

    SECTION V Adaptive Control

    Automatic Tuning of PID Controllers, Tore Hägglund and Karl J. Åström

    Self-Tuning Control, David W. Clarke

    Model Reference Adaptive Control, Petros Ioannou

    Robust Adaptive Control, Petros Ioannou and Simone Baldi

    Iterative Learning Control, Douglas A. Bristow, Kira L. Barton, and Andrew G. Alleyne

    SECTION VI Analysis and Design of Nonlinear Systems

    Nonlinear Zero Dynamics, Alberto Isidori and Christopher I. Byrnes

    The Lie Bracket and Control, V. Jurdjevic

    Two Timescale and Averaging Methods, Hassan K. Khalil

    Volterra and Fliess Series Expansions for Nonlinear Systems, Françoise Lamnabhi-Lagarrigue

    Integral Quadratic Constraints, Alexandre Megretski, Ulf T. Jönsson, Chung-Yao Kao, and Anders Rantzer

    Control of Nonholonomic and Underactuated Systems, Kevin M. Lynch, Anthony M. Bloch, Sergey V. Drakunov, Mahmut Reyhanoglu, and Dmitry Zenkov

    SECTION VII Stability

    Lyapunov Stability, Hassan K. Khalil

    Input-Output Stability, A.R. Teel, T.T. Georgiou, L. Praly, and Eduardo D. Sontag

    Input-to-State Stability, Eduardo D. Sontag


    Feedback Linearization of Nonlinear Systems, Alberto Isidori and Maria Domenica Di Benedetto

    The Steady-State Behavior of a Nonlinear System, Alberto Isidori and Christopher I. Byrnes

    Nonlinear Output Regulation, Alberto Isidori and L. Marconi

    Lyapunov Design, Randy A. Freeman and Petar V. Kokotovic

    Variable Structure, Sliding-Mode Controller Design, R.A. DeCarlo, S.H. Zak, and Sergey V. Drakunov

    Control of Bifurcations and Chaos, Eyad H. Abed, Hua O. Wang, and Alberto Tesi

    Open-Loop Control Using Oscillatory Inputs, J. Baillieul and B. Lehman

    Adaptive Nonlinear Control, Miroslav Krstic and Petar V. Kokotovic

    Intelligent Control, Kevin M. Passino

    Fuzzy Control, Kevin M. Passino and Stephen Yurkovich

    Neural Control, Jay A. Farrell

    SECTION IX System Identification

    System Identification, Lennart Ljung

    SECTION X Stochastic Control

    Discrete Time Markov Processes, Adam Schwartz

    Stochastic Differential Equations, John A. Gubner

    Linear Stochastic Input–Output Models, Torsten Söderström

    Dynamic Programming, P.R. Kumar

    Approximate Dynamic Programming, Draguna Vrabie and Frank Lewis

    Stability of Stochastic Systems, Kenneth A. Loparo

    Continuous-Time Linear Systems, T.E. Duncan and B. Pasik-Duncan

    Probabilistic and Randomized Tools for Control Design, Robert Tempo and Fabrizio Dabbene

    Stabilization of Stochastic Nonlinear Continuous-Time Systems, Miroslav Krstic and Shu-Jun Liu

    SECTION XI Control of Distributed Parameter Systems

    Control of Systems Governed by Partial Differential Equations, Kirsten Morris

    Controllability of Thin Elastic Beams and Plates, J.E. Lagnese and G. Leugering

    Control of the Heat Equation, Thomas I. Seidman

    Observability of Linear Distributed-Parameter Systems, David L. Russell

    Boundary Control of PDE’s: The Backstepping Approach, Miroslav Krstic and Andrey Smyshlyaev

    Stabilization of Fluid Flows, Miroslav Krstic and Rafael Vazquez

    SECTION XII Networks and Networked Controls

    Control Over Digital Networks, Nuno C. Martins

    Decentralized Control and Algebraic Approaches, Michael C. Rotkowitz

    Estimation and Control across Analog Erasure Channels, Vijay Gupta

    Passivity Approach to Network Stability Analysis and Distributed Control Synthesis, Murat Arcak



    Dr. William S. Levine received the B.S., M.S., and Ph.D. degrees from M.I.T. He then joined the faculty of the University of Maryland, College Park where he is currently Research Professor of ECE. Throughout his career, he has specialized in the design and analysis of control systems and related problems in estimation, filtering, and system modeling. Motivated by the desire to understand a collection of interesting controller designs, he has done a great deal of research on mammalian control of movement in collaboration with several neurophysiologists.

    Dr. Levine is co-author of Using MATLAB to Analyze and Design Control Systems (1992, second edition, 1995) and editor of The Control Handbook (published by CRC Press in cooperation with IEEE Press), and of a series on control engineering for Birkhauser. He is also co-editor of The Handbook of Networked and Embedded Control Systems (published by Birkhauser, 2005). He has been president of the IEEE Control Systems Society and the American Cntrol Council. He is presently the Chairman of the SIAM special interest group Control Theory and its Applications.

    Dr. Levine is a Fellow of the IEEE, a Distinguished Member of the IEEE Control Systems Society, and a recipient of the IEEE Third Millennium Medal. He and his collaborators received the Schroers Award for outstanding rotorcraft research in 1998. He and another group of collaborators received the award for outstanding paper in the IEEE Transactions on Auotomatic Control for "Discrete Time Point Processes in Urban Traffic Queue Estimation"