現(xiàn)代控制理論基礎(chǔ)

內(nèi)容概要

　　本書第一部分，即線性系統(tǒng)的狀態(tài)空間分析和綜合，由許維勝教授負責(zé)編寫。第二部分，即線性離散控制系統(tǒng)，由朱勁副教授編寫。第三部分，即非線性系統(tǒng)，由王中杰教授編寫。美國韋恩州立大學(xué)的林峰教授為本書提出了諸多寶貴的修改意見。同時，同濟大學(xué)蔣平、姚靜老師、易總根研究生等，也為本書的校對和修改做了大量的工作，在此對他們的貢獻表示衷心的感謝。

書籍目錄

Section Ⅰ State Space Analysis and Synthesis of Linear
Systems
　1　State Space Description of Dynamic Systems
　　1.1 Introduction
　　1.2 State and state space
　　1.3 State space description of dynamic systems
　　1.4 Canonical form of SISO state space representation
　　1.4.1 Controllable canonical form
　　1.4.2 Observable canonical form
　　1.4.3 Diagonal form and Jordan canonical form
　　1.5 Some examples of developing state space descriptions
　　1.6 Equivalent state equations
　　　1.6.1 Similarity transformation
　　　1.6.2 An application of similarity transformation--Diagonal form
and Jordan form
　　1.7 Relationship between I/O description and
state-spacedescription
　　　1.7.1 Transfer function from state-space description
　　　1.7.2 State-space representations from transfer
functionsRealizations
　　Problems
　2　Solution of State Equations of Linear Systems
　　2.1 Introduction
　　2.2 Solution of linear homogeneous state equation
　　2.3 Properties and calculations of the matrix exponential
function
　　2.3.1 Properties of □
　　2.3.2 Calculation of □
　　2.4 Solution of state equations
　　2.5 State transition matrix of linear time-invariant
systemsProblems
　3　Controllability and Observability
　　3.1 Introduction
　　3.2 Controllability
　　　3.2.1 Definition of complete state controllability
　　　3.2.2 Controllability criterion for time-invariant systems with
arbitrary eigenvalues
　　　3.2.3 Controllability criterion for time-invariant systems with
distinct □genvalues
　　　3.2.4 Controllability criterions for time-invariant systems
withmulti-eigenvalues
　　3.3 Observability
　　　3.3.1 Definition of complete state observability
　　　3.3.2 Observability criterion for time-invariant systems with
arbitrary eigenvalues
　　　3.3.3 Observability criterion for time-invariant systems with
distinct eigenvalues
　　　3.3.4 Observability criterion for time-invariant systems with
multi-eigenvalues
　　3.4 Principle of duality
　　3.5 Obtaining the controllable and observable canonicalforms for
SISO systems
　　　3.5.1 Controllable canonical form of SISO systems
　　　3.5.2 Observable canonical form of SISO systems
　　3.6 Canonical decomposition
　　　3.6.1 Decomposition according to controllability
　　　3.6.2 Decomposition according to observability
　　　3.6.3 Canonical structure of system
　　Extensions and Proofs
　　Problems
　4　Desigh of State Feedback Control Systems
　　4.1 Introduction
　　4.2 State feedback
　　　4.2.1 State feedback scheme
　　　4 2 2 The effect of state feedback on system properties
　　4.3 Pole assignment using state feedback
　　　4.3.1 Description of pole assignment problem
　　　4.3.2 Necessary and sufficient condition for arbitrary pole
assignment
　　　4.3 3 Pole assignment via control canonical form of state
equations
　　　4.3.4 Pole assignment via Ackermann's formula
　　　4.3.5 Direct calculation of gains by comparing characteristic
equations
　　4.4 Design of state observers
　　4.5 Feedback from estimated states
　　Problems
Section Ⅱ Linear Discrete-time Systems
　5 Discrete-time Systems and Computer Control Systems
　　5.1 Introduction
　　5.2 Sample-data control and computer control systems
　　5.3 Related theories
　?5.4 Sampling process and sample theorem
　　5.5 The z transform
　　5.6 The computation of z transform and the z transform of
elementary functions
　　5.7 Important properties of the z transform
　　5.8 The inverse z transform
　　5.9 Difference equation
　　5.10 The z transform method for solving difference
equations
　　5.11 The model of a discrete-time control system and the pulse
transfer function
　　5.12 The difference equation and pulse transfer function
　　Problems
　6　Analysis and Design of Discrete-Time Control Systems
　　6.1 Introduction
　　6.2 Mapping between the s plane and the z plane
　　6.3 Stability analysis of closed-loop systems in the z
plane
　　6.4 Steady-state response analysis
　　6.5 The dynamic analysis for the control system in the z
plane
　　6.6 The design of the discrete-time compensator
　　　6.6.1 Dead-beat control with intersampling ripples
　　　6.6.2 Dead-beat control without intersampling ripples
　　　6.6.3 Shortcomings of the Dead-beat control
　　6.7 Realization of digital controller
　　Problems
Section Ⅲ Nonlinear Systems
　7　Introduction to Nonlinear Control Systems
　　7.1 Introduction
　　7.2 Common nonlinear elements
　　7.3 Properties of nonlinear systems
　　7.3.1 Classification of nonlinearities
　　7.3.2 Some common nonlinear system behaviors
　　7.4 Approaches to the analysis of nonlinear control systems
　8　Describing Function Analysis
　　8.1 Introduction
　　8.2 Describing function fundamentals
　　　8.2.1 Basic assumptions
　　　8.2.2 Basic definitions
　　　8.2.3 Computing describing functions
　　8.3 Describing functions of common nonlinearities
　　8.4 Describing function analysis of nonlinear system
　　　8.4.1 Prediction and stability of self oscillations
　　　8.4.2 Plot of curves of G(□) and -□
　　　8.4.3 Reliability of the describing function method
　　8.5 Conclusion
　　Problems
　9　Phase Plane Analysis
　　9.1 Introduction
　　9.2 Basic ideas of phase plane analysis
　　9.3 Characteristics of phase plane trajectories
　　9.4 Constructing phase portraits
　　9.4.1 The method of isoclines
　　9.4.2 Analytical method
　　9.5 Phase plane analysis of nonlinear systems
　　9.5.1 Linearization of nonlinear system
　　9.5.2 Phase trajectories for linear systems
　　9.6 Conclusions
　　Problems
　10 Lyapunov Stability Theory
　　10.1 Introduction
　　10.2 Equilibrium states and concepts of stability
　　10.2.1 Equilibrium state
　　10.2.2 Concepts of lyapunov stability
　　10.3 Lyapunov's linearization method
　　10.4 Lyapunov's direct method
　　　10.4.1 Basic idea
　　　10.4.2 Some concepts of singular scalar functions
　?　10.4.3 Lyapunov's stability theorems
　　10.5 Construction of Lyapunov function
　　　10.5.1 Lyapunov equation
　　　10.5.2 The variable gradient method (Schultz-Gilbson
method)
　　　10.5.3 Aiserman method
　　10.6 Conclusions
Problems
References

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