1 8.1 Controller Parameterization for General Plants 2 8.2 H∞ PID Controllers for Unstable Plants 3 8.3 H2 PID Controllers for Unstable Plants 4 8.4 Performance Limitation and Robustness 5 8.5 Maclaurin PID Controllers for Unstable Plants 6 8.6 PID Design for the Best Achievable Performance 7 8.6 All Stabilizing PID Controllers for Unstable Plants
1 4.1 Traditional Design Methods 2 4.2 H∞ PID Controllers for the First-Order Plant 3 4.3 H∞ PID controller and the Smith Predictor 4 4.4 Quantitative Performance and Robustness 5 4.5 H∞ PID Controllers for the Second-Order Plant 6 4.6 All Stabilizing PID Controllers for Stable Plants
1 PREAMBLE 2 THE CONTEXT FOR DESIGN 3 ARRIVING AT THE DIAGRAM RESPONDING TO THE SITE CHOOSING AN APPROPRIATE ‘MODEL’ ORGANISING THE PLAN 4 CHOOSING APPROPRIATE TECHNOLOGIES STRUCTURE SERVICES HOW WILL IT STAND UP? HOW IS IT MADE? WILL IT BE COMFORTABLE? WILL IT BE GREEN? 5 HOW WILL IT LOOK? EXPRESSION V SUPPRESSION ROOF OPENINGS ELEVATIONS WALL MEMBRANES THE CORNER SCALE 6 THE SPACES AROUND CENTRIFUGAL AND CENTRIPETAL SPACE URBAN SPACE TYPOLOGY 7 POSTSCRIPT: A WORKING METHOD TRADITION V THE VIRTUAL BUILDING FURTHER READING
Foreword vi 8 Discovery 141 Preface to the Third Edition vii 9 Verification 163 Preface to the First Edition viii Ack COMMUNICATION nowled gments ix 1 Int roduction 1 10 Process 179 11 Individual Design 189 BASICSKILLS 12 Team Design 203 2 Drawing 17 13 Public Design 217 3 Conventions 39 14 Conclusion 231 4 Abst raction 55 Notes 237 5 Expression 67 Bibliography 239 Illustration Credits 242 APPLIED SK Index 244 ILLS 6 Analysis 81 7 Exploration 115
