The structure of this book is shown in detail in gure 1.5. From this gure the
reader can see that the structure of this book is more vertical than that of most
books on linear controller design, which often have parallel discussions of di erent
design techniques. In contrast, this book tells essentially one story, with a few
chapters covering related subplots.
A minimal path through the book, which conveys only the essentials of the story,
consists of chapters 2, 3, 6, 8{10, and 15. This path results from following every
dashed line labeled \experts can skip" in gure 1.5. We note, however, that the
term \expert" depends on the context: for example, the reader may be an expert
on norms (and thus can safely skip or skim chapters 4 and 5), but not on convex
optimization (and thus should read chapters 13 and 14).
1.5 BOOK OUTLINE
17
2
Notation:
Framework for