封面 书名页 版权页 前言 Preface 目录页 Chapter 1 Introduction to Control Theory 1.1 Historical Review and Classical Control Theory 1.1.1 Historical Review of Automatic Control 1.1.2 Classical Control Theory 1.2 Modern Control Theory 1.3 Design of Control Systems 1.4 Outline of this Book Chapter 2 Preliminary Mathematical Knowledge 2.1 Foundations of Matrix Algebra 2.1.1 Matrix 2.1.2 Algebraic Operations with Matrices 2.1.3 Matrix Operations 2.2 Vectors and Vector Spaces 2.2.1 Vectors 2.2.2 Vector Spaces and Subspaces 2.3 Linear Algebra 2.3.1 Eigenvalue and Eigenvector of a Square Matrix 2.3.2 Linear Algebraic Equations 2.3.3 Similarity Transformation 2.3.4 Diagonal Form and Jordan Form 2.3.5 Cayley-Hamilton Theorem 2.3.6 Definiteness of A Scalar Function and Quadratic Form Exercises Chapter 3 State-Space Description of Dynamic Systems 3.1 State-Space Representation of Dynamic Systems 3.1.1 State and State Variables 3.1.2 State-Space Representation 3.1.3 Block Diagrams and Simulation Diagrams 3.2 Obtaining state Equations 3.2.1 According to the Block Diagram 3.2.2 According to Input-Output Representation 3.2.3 Equivalence Transformation of State-Space Representation 3.3 Transfer Function and Realizations 3.4 State-Space Representation of Linear Discrete-Time Systems 3.5 Summary Exercises Problems Chapter 4 Time-Domain Response of Linear Systems 4.1 Solution of LTI State Equations 4.1.1 Linear Homogeneous State Equations 4.1.2 The State Transition Matrix 4.1.3 Linear Nonhomogeous State Equations 4.2 Numerical Solution of State Equations 4.3 Solution of Linear Discrete-Time State Equations 4.4 Discretization of Continuous-Time Systems Exercises Problems Chapter 5 Controllability and Observability 5.1 Corollaries of Cayley-Hamilton Theorem 5.2 Controllability and Observability of LTI Systems 5.2.1 Controllability Definition and Rank Criterion 5.2.2 Observability Definition and Rank Criterion 5.2.3 Controllable Canonical Form and Observable Canonical Form 5.2.4 Principle of Duality 5.3 Structural Decomposition of LTI Systems 5.4 Controllability,Observability and Transfer Function 5.5 Controllability and Observability of Discrete-Time Systems 5.5.1 Controllability of Discrete-Time Systems 5.5.2 Observability of Discrete-Time Systems 5.5.3 Controllability and Observability After Sampling Exercises Problems Chapter 6 Lyapunov Stability 6.1 Preliminary Examples 6.2 Stability Concepts 6.2.1 Equilibrium State 6.2.2 Stability Definitions 6.3 First Method of Lyapunov 6.3.1 Eigenvalue Criterion for Linear Time-Invariant System 6.3.2 Eigenvalue Criterion for Linearized Time-Invariant Systems 6.4 Second Method of Lyapunov 6.5 Lyapunov Equation Exercises Problems Chapter 7 State Feedback and State Observers 7.1 State Feedback and Output Feedback 7.1.1 State Feedback 7.1.2 Output Feedback 7.2 Pole Placement Using State Feedback 7.3 Pole placement Using Output Feedback 7.4 State Observer 7.4.1 Full-Dimensional Observer 7.4.2 Reduced-Dimensional State Observer 7.5 Feedback from Estimated States 7.6 The Engineering Applications of State Feedback and Observer 7.6.1 State Feedback Controller Design for the Inverted Pendulum 7.6.2 Asymptotic Tracking and Disturbance Rejection 7.6.3 System Stabilization 7.6.4 System Decoupling Exercises Problems Chapter 8 Introduction to Optimal Control 8.1 Problem Formulation 8.2 Preliminaries:The Extremum Problem of Functional 8.2.1 Functional and the Calculus of Variation 8.2.2 The Extremum Problem of Functional Without Constraints 8.3 The Variational Approach to Optimal Control Problems 8.4 Minimum Principle and Its Application 8.4.1 Pontryagin's Minimum Principle 8.4.2 Application of Minimum Principle Exercises Problems Answers to the Selected Exercises Experiment 1 Modeling and Analysis of the Inverted Pendulum System Experiment 2 Design State Feedback Controller for the Inverted PendulumSystem Bibliography ..更多