Design of oscillatory control systems

Presents a broad and rigorous framework for the analysis and design of control systems subject to oscillatory inputs, i.e., inputs of large amplitude and high frequency. The key analysis result is a series expansion characterizing the averaged system. This expansion leads to efficient algorithms for stabilization of systems with positive trace and for trajectory tracking for second-order underactuated systems. A second-order nonholonomic integrator and the PVTOL example provide insight into the trajectory tracking controller.