Titlebook: Analysis and Design of Control Laws for Advanced Driver-Assistance Systems; Theory and Applicati Nicola Mimmo Textbook 2023 The Editor(s) (

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Models and ADAS Control Goals,This chapter presents the control-oriented nonlinear models describing the dynamics of some automotive systems. In more detail, it derives a set of differential equations for each application through Newtonian or Lagrangian approaches—the definitions of state, inputs, outputs, and exogenous complete these models.

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LTI System Analysis,This chapter introduces the study of the trajectories of linear systems. In particular, trajectory boundedness is linked to the eigenvalues of matrix .. In more detail, Sect. . introduces an instrumental mathematical tool called ..

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Control System Architecture,Goal G1 requires the controller to keep states ., inputs ., and regulated outputs . bounded for all times under the assumption of bounded exogenous signals (i.e., bounded disturbances, noises, and references). Chapter . links the boundedness of these signals to BIBS stability through the eigenvalues of the linearized system.

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Optimal Control and Kalman Filter,Chapter . proved the existence of the matrices required to implement a linearization-based control system. Accordingly, this chapter presents a technique for designing these matrices.

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ADAS Advanced Control Techniques,This book presents control systems founded on two main pillars: linearization (as for the control architecture) and optimization (as for the controller design). As detailed in Sects. . and ., the control systems based on linearization can guarantee the stability of the closed loop only locally.

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