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From the Inside Flap

The subject of robust control began to receive worldwide attention in the late 1970's when it was found that Linear Quadratic Optimal Control (optimal control), state feedback through observers, and other prevailing methods of control system synthesis such as Adaptive Control, lacked any guarantees of stability or performance under uncertainty. Thus, the issue of robustness, prominent in Classical Control, took rebirth in a modern setting. Optimal control was proposed as a first approach to the solution of the robustness problem. This elegant approach, and its offshoots, such as theory, have been intensely developed over the past 12 years or so, and constitutes one of the triumphs of control theory. The theory provides a precise formulation and solution of the problem of synthesizing an output feedback compensator that minimizes the norm of a prescribed system transfer function. Many robust stabilization and performance problems can be cast in this formulation and there now exists effective, and fairly complete theory for control system synthesis subjected to perturbations, in the framework. The theory delivers an "optimal" feedback compensator for the system. Before such a compensator can be eployed in a physical (real-world) system it is natural to test its capabilities with regard to additional design criteria, not covered by the optimality criterion used. In particular the performance of any controller under real parameter uncertainty, as well as mixed parametric-unstructured uncertainty, is an issue which is vital to most control systems. However, optimal theory is incapable of providing a direct and nonconservative answer to this important question. The problem of robustness under parametric uncertainty received a shot in the arm in the form of Kharitonov's Theorem for interval polynomials, which appeared in the mid-1980's in the Western literature. It was originally published in 1978 in a Russian journal. With this surprising theorem the entire field of robust control under real parametric uncertainty came alive and it can be said that Kharitonov's Theorem is the most important occurrence in this area after the development of the Routh-Hurwitz criterion. A significant development following Kharitonov's Theorem was the calculation, in 1985, by Soh, Berger and Dabke of the radius of the stability ball in the space of coefficients of a polynomial. From the mid-1980's rapid and spectacular developments have taken place in this field. As a result we now have a rigorous, coherent, and comprehensive theory to deal directly and effectively with real parameter uncertainty in control systems. This theory nicely complements the optimal theories as well as Classical Control and considerably extends the range of possibilities available to the control specialist. The main accomplishment of this theory is that it allows us to determine if a linear time invariant control system, containing several uncertain real parameters remains stable as the parameters vary over a set. This question can be answered in a precise manner, that is, nonconservatively, when the parameters appear linearly or multilinearly in the characteristic polynomial. In developing the solution to the above problem, several important control system design problems are answered. These are 1) the calculation of the real parametric stability margin, 2) the determination of stability and stability margins under mixed parametric and unstructured (norm-bounded or nonlinear) uncertainty 3) the evaluation of the worst case or robust performance measured in the norm, over a prescribed parametric uncertainty set and 4) the extension of classical design techniques involving Nyquist, Nichols and Bode plots and root-loci to systems containing several uncertain real parameters. These results are made possible because the theory developed provides built-in solutions to several extremal problems. It identifies apriori the critical subset of the uncertain parameter set over which stability or performance will be lost and thereby reduces to a very small set, usually points or lines, the parameters over which robustness must be verified. This built-in optimality of the parametric theory is its main strong point particularly from the point of view of applications. It allows us, for the first time, to devise methods to effectively carry out robust stability and performance analysis of control systems under parametric and mixed uncertainty. To balance this rather strong claim we point out that a significant deficiency of control theory at the present time is the lack of nonconservative synthesis methods to achieve robustness under parameter uncertainty. Nevertheless, even here the sharp analysis results obtained in the parametric framework can be exploited in conjunction with synthesis techniques developed in the framework to develop design techniques to partially cover this drawback. The objective of this book is to describe the parametric theory in a self-contained manner. The book is suitable for use as a graduate textbook and also for self-study. The entire subject matter of the book is developed from the single fundamental fact that the roots of a polynomial depend continuously on its coefficients. This fact is the basis of the Boundary Crossing Theorem developed in Chapter 1 and is repeatedly used throughout the book. Surprisingly enough this simple idea, used systematically is sufficient to derive even the most mathematically sophisticated results. This economy and transparency of concepts is another strength of the parametric theory. It makes the results accessible and appealing to a wide audience and allows for a unified and systematic development of the subject. The contents of the book can therefore be covered in one semester despite the size of the book. In accordance with our focus we do not develop any results in theory although some results from theory are used in the chapter on synthesis. In Chapter 0, which serves as an extension of this preface, we rapidly overview some basic aspects of control systems, uncertainty models and robustness issues. We also give a brief historical sketch of Control Theory, and then describe the contents of the rest of the chapters in some detail. The theory developed in the book is presented in mathematical language. The results described in these theorems and lemmas however are completely oriented towards control systems applications and in fact lead to effective algorithms and graphical displays for design and analysis. We have throughout included examples to illustrate the theory and indeed the reader who wants to avoid reading the proofs can understand the significance and utility of the results by reading through the examples. A MATLAB based software package, the Robust Parametric Control ToolBox, has been developed by the authors in collaboration with Samir Ahmad, our graduate student. It implements most of the theory presented in the book. In fact, all the examples and figures in this book have been generated by this ToolBox. We gratefully acknowledge Samir's dedication and help in the preparation of the numerical examples given in the book. A demonstration diskette illustrating this package is included with this book. S.P.B. would like to thank R. Kishan Baheti, Director of the Engineering Systems Program at the National Science Foundation, for supporting his research program. L.H.K. thanks Harry Frisch and Frank Bauer of NASA Goddard Space Flight Center and Jer-Nan Juang of NASA Langley Research Center for their support of his research, and Mike Busby, Director of the Center of Excellence in Information Systems at Tennessee State University for his encouragement. It is a pleasure to express our gratitude to several colleagues and coworkers in this field. We thank Antonio Vicino, Alberto Tesi, Mario Milanese, Jo W. Howze, Aniruddha Datta, Mohammed Mansour, J. Boyd Pearson, Peter Dorato, Yakov Z. Tsypkin, Boris T. Polyak, Vladimir L. Kharitonov, Kris Hollot, Juergen Ackermann, Diedrich Hinrichsen, Tony Pritchard, Dragoslav D. Siljak, Charles A. Desoer, Soura Dasgupta, Suhada Jayasuriya, Rama K. Yedavalli, Bob R. Barmish, Mohammed Dahleh, and Biswa N. Datta for their, support, enthusiasm, ideas and friendship. In particular we thank Nirmal K. Bose, John A. Fleming and Bahram Shafai for thoroughly reviewing the manuscript and suggesting many improvements. We are indeed honored that Academician Ya. Z. Tsypkin, one of the leading control theorists of the world, has written a Foreword to our book. Professor Tsypkin's pioneering contributions range from the stability analysis of time-delay systems in the 1940's, learning control systems in the 1960's to robust control under parameter uncertainty in the 1980's and 1990's. His observations on the contents of the book and this subject based on this wide perspective are of great value. The first draft of this book was written in 1989. We have added new results of our own and others as we became aware of them.

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From the Back Cover

Crucial in the analysis and design of control systems, this book presents a unified approach to robust stability theory, including both linear and nonlinear systems, and provides a self-contained and complete account of the available results in the field of robust control under parametric uncertainty. These results are elegant and their direct application to control system design is illustrated by numerous examples, including MATLAB software. Covers the Generalized Kharitonov Theorem, the theory of disk polynomials, the extremal properties of interval systems, the calculation of the real parametric stability margin, and design problems under simultaneous parametric and nonparametric uncertainty. For electrical, mechanical, nuclear, chemical, and aerospace engineers.

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Series: Prentice Hall Information and System Sciences

Hardcover: 672 pages

Publisher: Prentice Hall; Har/Dskt edition (January 1, 1995)

Language: English

ISBN-10: 013781576X

ISBN-13: 978-0137815760

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Series: Rapid Review

Paperback: 864 pages

Publisher: Elsevier; 5 edition (March 15, 2018)

Language: English

ISBN-10: 0323476686

ISBN-13: 978-0323476683

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Shipping Weight: 3.8 pounds (View shipping rates and policies)

Average Customer Review:

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530 customer reviews

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There are so many mistakes in this edition. I really liked the 4th edition and was happy to get the 5th edition, but there are just way too many errors - formatting, spelling, grammar, and most importantly wrong medical information. It really seems like this book was not even edited at all.

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Series: Word Essentials (Book 1)

Paperback: 73 pages

Publisher: CreateSpace Independent Publishing Platform (December 19, 2017)

Language: English

ISBN-10: 1981834583

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Series: The Science Of

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Publisher: Gareth Stevens Pub Learning library (January 1, 2009)

Language: English

ISBN-10: 1433900408

ISBN-13: 978-1433900402

Product Dimensions:

8 x 0.5 x 10.2 inches

Shipping Weight: 9.6 ounces (View shipping rates and policies)

Average Customer Review:

1.0 out of 5 stars

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Amazon Best Sellers Rank:

#3,659,386 in Books (See Top 100 in Books)

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Cards: 60 pages

Publisher: Sounds True (November 27, 2018)

Language: English

ISBN-10: 168364266X

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I loved the journal version of this and really adore this gorgeous deck of cards, the artwork and even the little stand that comes with it to help set intentions for the day - 10/10!

This deck is different from your typical one. It made my gears turn a bit to figure out my approach to the deck and what it was telling me. Change can be good, I like it :)

It’s like having a very cool resourceful friend nearby who can with one suggestion bring you back to your spirit.

Love love love. Picks up where the journal leaves off. I love to start my day off by pulling a card.

Loved and the whole simplicity in many ways! Great questions to work on!

Loved these cards! I use them for my yoga practice and in groups!

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Free PDF Beyond the Hebrew Lexicon: Learn To Do Hebrew Word Studies That Take You Beyond the Lexicon

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Beyond the Hebrew Lexicon: Learn To Do Hebrew Word Studies That Take You Beyond the Lexicon

Free PDF Beyond the Hebrew Lexicon: Learn To Do Hebrew Word Studies That Take You Beyond the Lexicon

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Product details

Paperback: 194 pages

Publisher: CreateSpace Independent Publishing Platform (April 7, 2015)

Language: English

ISBN-10: 1508601038

ISBN-13: 978-1508601036

Product Dimensions:

5.5 x 0.4 x 8.5 inches

Shipping Weight: 11 ounces (View shipping rates and policies)

Average Customer Review:

4.4 out of 5 stars

115 customer reviews

Amazon Best Sellers Rank:

#112,228 in Books (See Top 100 in Books)

I have studied the Hebrew alphabet for over 15 years, the letters themselves expressing a huge depth of meaning. For that reason a Hebrew word can not be understood at 'face value'. It becomes a 3-D experience in understanding. Chaim Bentorah, a Hebrew teacher of many years, has taken this understanding and presented it simply and clearly. For those who love Scripture, and look up words from the concordance to find the meaning, can now look at the letters and get a much deeper picture of that word, as it is meant not just from head knowledge, but 'from the heart'. Hebrew is a 'heart' language. As Bentorah brings out as he is discussing the letters, that a scholarly knowledge base can bring about exhaustion when acting 'upon the knowledge'. But when a word is understood from the heart it will bring about desire and creativity - the difference between the 'letter and the spirit'. I highly recommend this work, particularly if you are looking to understand that God really is a God of love and not just a 'do this / do that' God.

This book delivered what it promised.Its a good intro to the topic of the hebrew words and letters and linking it to the english translations.What i liked about it is that it struck the right balance between being informative and yet not too specific and boring.I personally found it very interesting to link this with my arabic language.Lots of common words and themes which was shocking to me.Even the alphabets are very close between the two languages.Its sad to see the people of two very close languages and traditions end up in such conflict and hate.God bless

I really love the way Chaim Bentorah writes. The book will help anyone who wants a deeper understanding of the Bible from the Hebrew perspective. Because, as he states, our Bible is a Hebrew document written for Hebrews in their time period, to understand the meanings, you really need to look back as if you were in their position and time. The book is very understandable. He takes you step by step with examples. There is also a workbook that you can buy that lets you practice the Hebrew word studies. I also recommend his book "Hebrew Word Study: Understanding the Heart of God."

I am divided about this book as a system of learning Hebrew. The commentary given by the author is fascinating and gives me some insight into Hebrew as a language of may layers. I found myself not wanting to put the book down and wanting to learn more. The extensive bibliography can help with that. For this I would give it 5 stars.However, the ONLY reason I give it 3 is that the depictions (at least in the Kindle Edition) of the Hebrew characters are so small, that it makes them almost unreadable. I have NO IDEA why books seem to depict the Hebrew letters and words as so small. Much smaller than even English letters in footnotes. I would recommend another book to learn the shapes of the letters... one that uses larger print (my old eyes just can't read these) and then studying this book. Maybe after doing that, I can see the pattern in the letters more clearly.

Another book added to my library.. This study got me off the Facebook, and YOUTUBE, ..because I study now, between 4 to 8 hours daily searching the hidden meanings of the many hebrew words connected to the bible...God wants us centered and focused, I also found out GOD is incredibly patient and loving in many ways...Many times we don't give GOD the credit he deserves...because so many of us Christians are too trusting believing whatever the Pastor or head of the CHURCH says about their interpretation of the bible...

It is fairly well organized and informative, but there are multiple errors. For example, in the workbook, on page 14, where the author intends to show the Hebrew letters for "kemeleke" (his transliteration) he has printed Lamed-Mem-Lamed-Khaf Sofeet, while in the next paragraph, where he intends to place the Hebrew letters for "lemeleke" he has printed (three times in this case) the letters Khaf-Mem-Lamed-Khaf Sofeet. The two examples are simply reversed. At the end of the exercise on page 31, in the last line, he has the word "nacham" represented with the Hebrew letters Samech-Resh-Beth, rather than the correct letters which he has used earlier on the same page. Also, in general, Hebrew letters appear stretched horizontally in some places, vertically in some places, and are of uneven sizes in some places. It seems to lack editing, as well as technical skill in printing. The same types of errors appear in the textbook.

I have not read very far into this book at this point, but I am enjoying the author's detailed histories of each of the Hebrew letters as well as his own rather imaginative interpretations of them from a Christian perspective. (His Hebrew name is a pseudonym, and he is really a Baptist minister who is an expert in Hebrew and other Biblical languages.) One technical problem I am experiencing, however, has made the book virtually unreadable on my old 5-way-controller Kindle. My husband had the same problem on his Kindle Fire with a sample chapter. The Hebrew characters appear in an extremely tiny font which does not enlarge when I use the Aa key to change the text size, though the English-alphabet characters do. Since the whole point is the Hebrew words and their letters, the resultant text is almost meaningless. The Kindle tech support person I consulted was unable to resolve this issue, which presumably stems from the publisher rather than from Amazon. So if you wish to explore this intriguing book, please order a normal print edition rather than a Kindle.

Another book added to my library.. This study got me off the Facebook, and YOUTUBE, ..because I study now, between 4 to 8 hours daily searching the hidden meanings of the many hebrew words connected to the bible...God wants us centered and focused, I also found out GOD is incredibly patient and loving in many ways...Many times we don't give GOD the credit he deserves...because so many of us Christians are too trusting believing whatever the Pastor or head of the CHURCH says about their interpretation of the bible...

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Free Ebook Don't Waste Your Life (Redesign), by John Piper

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Don't Waste Your Life (Redesign), by John Piper

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About the Author

John Piper (DTheol, University of Munich) is the founder and teacher of desiringGod.org and the chancellor of Bethlehem College & Seminary. He served for thirty-three years as the senior pastor of Bethlehem Baptist Church in Minneapolis, Minnesota, and is the author of more than fifty books, including Desiring God; Don’t Waste Your Life; This Momentary Marriage; A Peculiar Glory; and Reading the Bible Supernaturally.

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Product details

Paperback: 192 pages

Publisher: Crossway; Redesign edition (March 31, 2018)

Language: English

ISBN-10: 1433555506

ISBN-13: 978-1433555503

Product Dimensions:

5.5 x 0.6 x 8.4 inches

Shipping Weight: 11.2 ounces (View shipping rates and policies)

Average Customer Review:

4.4 out of 5 stars

365 customer reviews

Amazon Best Sellers Rank:

#19,398 in Books (See Top 100 in Books)

This book is not for the nominal Christian, nor is it recommended for the spiritually lazy, lackadaisical, surface believer who is satisfied with going to church on Sunday, perhaps attending Sunday School, and hoping to go to Heaven when they die.I wept as my wife and I read aloud several chapters. My heart broke, my spirit grieved, my concept of how I treasured Jesus above all else in life was crushed beneath the load of conviction.It did not take many chapters for me to realize that much of my life is being wasted by God's standards. Not just anyone could have written this book. Doctor Piper speaks the Bible and then supports his theses by the Bible. It leaves the reader saying "dear God, I have missed the mark, I am wasting my life."If you think you have a lock on your relationship with Jesus, read this book. Do you believe that God is most honored when you are most satisfied in Him?Is your life more important than your relationship with Jesus? Is your earthly treasure more valuable than your purpose in Jesus?If you read this book, John Piper's words, and apply them by the power and guidance of the indwelling Holy Spirit, your life will be transformed into what you should be as a Child of God.Read this book with a prayed up, confessed up, Spirit Filled up approach, desiring God's best, and you will experience it.It is deep, it is designed to change your mind, it is a must for growing Christians.

One of the best books I have read! Get ready to rekindle or perhaps kindle that fire that the Lord put inside (or desires to). Get ready to NOT waste your life! Get up, Seek Him and His Kingdom first and let Him ordain your path! Perfect book for anyone, unbeliever to mature one in Christ!

Aside from the scriptures, this is, by far, the most fabulous piece of literature I have ever read. I have had this book for 1 year and have read it in full 7 times. My copy is dog-eared, highlighted and filled with pencil marks and notes and I go back to it constantly.The lessons this book teaches apply to all walks of life, and all stages of your life. Whether you are 10 years old, 90 years young, or anywhere else along the way, this book will give you a new perspective on the days you have left.Perhaps most importantly, this book does not leave you with guilt about the mistakes you may have made in your life. Instead, it motivates you to live the rest of your life completely sold out for God.As Piper hammers home, when you live this way "God will be most glorified in you. And you will be most satisfied in him."

John Piper's book inspired and informed my mind and heart about the danger of Christians wasting their life rather than being intentional about how we spend it. Unless we lose our life - we waste our life. Risks are worth it and necessary. This is Piper's thesis throughout the book. His detailed application of what it means to be "crucified" with Christ yet live for him gave me new understanding - both intellectually and emotionally of the profound and difficult meaning of this Scripture.Piper cites Luke 21:16-18 in which Jesus says, "Some of you will be put to death. You will be hated by all for my name's sake, but not a hair on your head will perish." The ambiguity of this statement is explored at length and Piper concludes - you may suffer, you may die, but Jesus meant that "You will have everything you need to do his will and be eternally and supremely happy in him."Piper questions the daily life of Christians who live comfortably and securely. He paraphrases scripture: "Even sinners work hard, avoid gross sin, watch TV at night, and do fun stuff on the weekend. What more are you doing than others?"Here are a couple of other quotes to whet your appetite for this book:"Missions is not only crucial for the life of the world. It is crucial for the life of the church. We will perish with our wealth if we do not pour ourselves out in ministries of mercy at home and mission among the unreached peoples.""We exist to spread a passion for God's supremacy in all things for the joy of all peoples through Jesus Christ."This book is dangerous. It will challenge you to change, to take risks to live completely for Christ.

I guess this book is really aimed at young graduates who are making decisions about life goals. But a very earnest John Piper reminds us all, as Christians, that our purpose, the thing that will satisfy our longing for meaning, is to tell the world the truth about God and about His Son and what that means to each one of us. The treasure of knowing who Jesus is and what He did for us is what will bring us real joy, and we have a responsibility not to keep that to ourselves. Filled with energy and passion.

excellent read for all folks, I just retired and this book is aligned with my thinking - that playing golf or tennis or bridge to the exclusion of serving God is not what I want for my life. I know too many people that have wasted their lives thinking retirement was a deserved time to do nothing but travel and play. don't want to be like that. This book is convicting and a must read.

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Don't Waste Your Life (Redesign), by John Piper PDF

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Don't Waste Your Life (Redesign), by John Piper PDF