反馈控制系统

本书内容全面，详细介绍了经典自动控制理论、状态空间控制理论、离散数字系统控制理论技术和非线性系统分析的基本知识。整本书结构清晰明了、内容丰富，融会贯通了由基本概念到实际应用的思想。本书浅显易懂，数学理论分析过程翔实， 读者只需要一定的微分方程、线性代数和拉普拉斯变换基础就可以理解其中的知识，可以作为大多数高校的教材。每章的结构安排清晰合理。每章的简介（Introduction）部分都提纲挈领地给出了章节的知识背景和控制要求，以及章节的主要内容结构分布。在每章的各个小节，作者首先详细介绍各种理论、技术，紧接着给出翔实的例子，避免了读者局限于抽象的理论。而每章末尾对关键的知识点及时地进行了小结，有助于加深读者对所学知识的了解，形成完整的知识理论体系。本书较早地引入了MATLAB的使用，并且在大量的实例中对使用MATLAB进行了分析。关键的例子在书本中提供了具体代码，读者可以轻松地在MATLAB中进行模仿练习。因此建议读者结合MATLAB学习，有利于快速培养起分析和设计控制系统的能力。

Preface
CHAPTER 1  Introduction
1.1  The Control Problem
1.2  Examples of ControlSystems
1.3  Short History of Control
References
CHAPTER 2  Models of Physical Systems
2.1  System Modeling
2.2  Electrical Circuits
2.3  Block Diagrams and Signal Flow Graphs
2.4  Mason's Gain Formula
2.5  Mechanical Translational Systems
2.6  Mechanical Rotational Systems
2.7  Electromechanical Systems
2.8  Sensors
2.9  Temperature-Control System
2.10  Analogous Systems
2.11  Transformers and Gears
2.12  Robotic Control System
2.13  System Identification
2.14  Linearization
2.15  Summary
References
Problems
CHAPTER 3  State-Variable Models
3.1  State-Variable Modeling
3.2  Simulation Diagrams
3.3  Solution of State Equations
3.4  Transfer Functions
3.5  Similarity Transformations
3.6  Digital Simulation
3.7  Controls Software
3.8  Summary
References
Problems
CHAPTER 4  System Responses
4.1  Time Response of First-Order Systems
4.2  Time Response of Second-Order Systems
4.3  Time Response Specifications in Design
4.4  Frequency Response of Systems
4.5  Time and Frequency Scaling
4.6  Response of Higher-Order Systems
4.7  Reduced-Order Models
4.8  Summary
References
Problems
CHAPTER 5  Control-System Characteristics
5.1  Closed-Loop Control System
5.2  Stability
5.3  Sensitivity
5.4  Disturbance Rejection
5.5  Steady-StateAccuracy
5.6  Transient Response
5.7  Closed-Loop Frequency Response
5.8  Summary
References
Problems
CHAPTER 6  Stability Analysis
6.1  Routh-Hurwitz Stability Criterion
6.2  Roots of the Characteristic Equation
6.3  Stability by Simulation
6.4  Summary
Problems
CHAPTER 7  Root-Locus Analysis and Design
7.1  Root-Locus Principles
7.2  Some Root-Locus Techniques
7.3  Additional Root-Locus Techniques
7.4  Additional Properties of the Root Locus
7.5  Other Configurations
7.6  Root-Locus Design
7.7  Phase-Lead Design
7.8  Analytical Phase-Lead Design
7.9  Phase-Lag Design
7.10  PID Design
7.11  AnalyticalPID Design
7.12  Compensator Realization
7.13  Summary
References
Problems
CHAPTER 8  Frequency-Response Analysis
8.1  Frequency Responses
8.2  Bode Diagrams
8.3  Additional Terms
8.4  Nyquist Criterion
8.5  Application of the Nyquist Criterion
8.6  Relative Stability and the Bode Diagram
8.7  Closed-Loop Frequency Response
8.8  Summary
References
Problems
CHAPTER 9  Frequency-Response Design
9.1  Control-System Specifications
9.2  Compensation
9.3  Gain Compensation
9.4  Phase-Lag Compensation
9.5  Phase-Lead Compensation
9.6  Analytical Design
9.7  Lag-Lead Compensation
9.8  PID Controller Design
9.9  Analytical PID Controller Design
9.10  PID Controller Implementation
9.11  Frequency-Response Software
9.12  Summary
References
Problems
CHAPTER 10  Modern Control Design
10.1  Pole-Placement Design
10.2  Ackermann's Formula
10.3  State Estimation
10.4  Closed-Loop System Characteristics
10.5  Reduced-Order Estimators
10.6  Controllability and Observability
10.7  Systems with Inputs
10.8  Summary
References
Problems
CHAPTER 11  Discrete-Time Systems
11.1  Discrete-Time System
11.2  Transform Methods
11.3  Theorems of the z-Transform
11.4  Solution of Difference Equations
11.5  Inverse z-Transform
11.6  Simulation Diagrams and Flow Graphs
11.7  State Variables
11.8  Solution of State Equations
11.9  Summary
References
Problems
CHAPTER 12  Sampled-Data Systems
12.1  Sampled Data
12.2  Ideal Sampler
12.3  Properties of the Starred Transform
12.4  Data Reconstruction
12.5  Pulse Transfer Function
12.6  Open-Loop Systems Containing Digital Filters
12.7  Closed-Loop Discrete-Time Systems
12.8  Transfer Functions for Closed-Loop Systems
12.9  State Variables for Sampled-Data Systems
12.10  Summary
References
Problems
CHAPTER 13  Analysis and Design of Digital Control Systems
13.1  Two Examples
13.2  Discrete System Stability
13.3  Jury's Test
13.4  Mapping the s-Plane into the z-Plane
13.5  Bilinear Transformation
13.6  Routh-Hurwitz Criterion
13.7  Bode Diagram
13.8  Steady-State Accuracy
13.9  Design of Digital Control Systems
13.10  DigitalPID Controllers
13.11  Emulation Design Methods
13.12  Summary
References
Problems
CHAPTER 14  Pole-Assignment Design and State Estimation for Discrete-Time Systems
14.1  Introduction
14.2  Pole Assignment
14.3  State Estimation
14.4  Systems with Inputs
14.5  Summary
References
Problems
CHAPTER 15  Nonlinear System Analysis
15.1  Nonlinear System Definitions and Properties
15.2  Review of the Nyquist Criterion
15.3  Describing Function
15.4  Derivations of Describing Functions
15.5  Use of the Describing Function
15.6  Stability of Limit Cycles
15.7  Design
15.8  Application to Other Systems
15.9  Linearization
15.10  Equilibrium States and Lyapunov Stability
15.11  State Plane Analysis
15.12  Linear-SystemResponse
15.13  Summary
References
Problems
APPENDIX
A  Laplace Transform
B  Laplace Transform and z-Transform Tables
C  MATLAB Commands Used in This Text
D  Answers to Selected Problems