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Panos J. Antsaklis Anthony N. Michel

A Linear Systems Primer

Birkh¨ user a Boston • Basel • Berlin

Panos J. Antsaklis Department of Electrical Engineering University of Notre Dame Notre Dame, IN 46556 U.S.A.

Anthony N. Michel Department of Electrical Engineering University of Notre Dame Notre Dame, IN 46556 U.S.A.

Cover design by Mary Burgess. Mathematics Subject Classification (2000): 34A30, 34H05, 93-XX, 93-01, 93Axx, 93A30, 93Bxx, 93B03, 93B05, 93B07, 93B10, 93B11, 93B12, 93B15, 93B17, 93B18, 93B20, 93B25, 93B50, 93B55, 93B60, 93Cxx, 93C05, 93C15, 93C35, 93C55, 93C57, 93C62, 93Dxx, 93D05, 93D15, 93D20, 93D25, 93D30 Library of Congress Control Number: 2007905134 ISBN-13: 978-0-8176-4460-4 Printed on acid-free paper.

c 2007 Birkhauser Boston ¨ All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Birkh¨ user Boston, c/o Springer Science+Business Media LLC, 233 a Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights.

e-ISBN-13: 978-0-8176-4661-5

www.birkhauser.com

(MP)

To our Families

To Melinda and our daughter Lily and to my parents Dr. Ioannis and Marina Antsaklis —Panos J. Antsaklis

To Leone and our children Mary, Kathy, John, Tony, and Pat —Anthony N. Michel

And to our Students

Preface

Brief Description The purpose of this book is to provide an introduction to system theory with emphasis on control theory. It is intended to be the textbook of a...