Linear Controller Design: Limits of Performance by Stephen Boyd and Craig Barratt - HTML preview

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] also gives the precise innite-dimensional formulation.

D

an71

General nonsmooth analysis (which includes convex analysis) is covered in Clarke

],

Cla83

which gives the precise formulation of the concepts of this chapter in innite-dimensional

(Banach) spaces. Chapter 2 of Clarke's book contains a complete calculus for subgradients

and quasigradients, including the subgradient computation tools of section 13.3 (and a lot

more).

Subgradients of Closed-Loop Convex Functionals

Subgradients of an

norm are given in Polak and Wardi

] several of the

H

PW82

1

other subgradients are derived in Polak and Salcudean

] and Salcudean's Ph.D.

PS89

thesis

].

Sal86

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