engineering.

**Applied Optimal Estimation**written by the Technical Staff of the Analytic Sciences Corporation,

and edited by Arthur Gelb. M.I.T. Press, Cambridge Massachusetts, 1974. This book provides a

concise introduction to estimation first introducing fundamental concepts and mathematics, then

quickly moving into the development of practical algorithms for estimation and filtering.

**Implementation of Self Tuning Controllers**edited by Kevin Warwick, Peter Peregrinus Ltd.,

United Kingdom, 1988. This book is a collection of landmark papers in applied adaptive control. A

valuable resource; I have often referred to chapter 2 , RLS based estimation schemes for self tuning

control. The chapter offers a fairly complete collection of ad-hoc modifications of the RLS algorithm

to help meet special requirements in system identification.

**An introduction to the Calculus of Variations**by Charles Fox, Dover Publications, Inc., New York,

1987. Inexpensive, yet well written text on the introduction to the calculus of variations. Lots of

classic examples in experimental physics. Good background material for working optimal control

problems.

**Digital Control System Design**Second Edition by Mohammed S. Santina, Allen R. Stubberud, and

Gene H. Hostetter, Harcourt Brace College Publishers, Forth Worth TX, 1994. Complete treatment of

digital control and estimation control. Lots of detailed examples makes this text an excellent choice

for both the beginner and practicing engineer to further their knowledge. Strong focus in state

feedback control, observer theory and optimal control. Thanks Mohammed.

**Automatic Feedback Control System Synthesis**by John G. Truxal, McGraw Hill Book Company,

Inc., New York, 1955. An oldie, but goodie. This book, recommended to me by my good friend, Gary

McGee, includes discussions on topics in control not often found in more modern texts. Check out

chapter 11 on phase plane analysis and the interpretation of the phase portrait for non-linear

systems. Thanks Gary.

**Linear Optimal Control Systems by Kwakernaak and Sivan**, Wiley Interscience, New York,

1972. A Classic in the field of optimal control. Good introductory text, and lots of practical examples

that can be used as a basis for actual applications.

**Probability, Random Variables and Stochastic Processes**second edition by Athanasios

Papoulis, McGraw Hill Book Company, New York, 1984. Another classic, but in the field of probability

and stochastic processes. I have found chapter 10, Spectral Analysis, to be a most usefull

reference. A valuable resource for control engineers applying feedback methods in communications

systems.

**Control and Analysis of Noisy Processes**by David Koenig, Prentice Hall, Englewood Cliffs, New

Jersey, 1991. A down-to-earth, practical text that describes specific characteristics of control

systems components. He breaks down the classic PID controller, and explains the behavior of each

component. All the practical aspects in classical control covered. A must read for the practicing

control engineer.

**Automatic Control Systems**by Richard Phelan, Cornell University Press, Ithaca, New York, 1977.

Phelan introduces an alternative approach to the classical PID controller: PDF control. He's right.

PID is not always the best solution. I have found the PDF methodology to provide all the benefits of

PID control, but with an increase in robustness to plant parameter variations.**Robust Adaptive Control**by Petros A, Ioannou and Jing Sun, Prentice Hall, NJ 1996. This book

provides a solid theoretical foundation for modern day adaptive controls as well as summary

algorithms that can be taken directly from the text for application.