现代控制理论 Modern Control Theory

Chapter 1 Introduction 1.1 The History of Control Theory 1.2 Simulation Tools 1.3 Outlines of the Book Chapter 2 State Space Representation 2.1 Basic System Models 2.2 State Space Description 2.3 Selection of State Variables 2.4 Linear Transform of State-space Model 2.5 Transfer Function Matrix 2.6 State-space Expression of Discrete System 2.7 Matlab Functions for State Space Model Exercise Chapter 3 Solution of Linear Time Invariant State Equations 3.1 Solution of Continuous Homogeneous State Equations 3.2 Solution of Continuous Nonhomogeneous State Equations 3.3 Solution of Discrete State Equations 3.4 Matlab Functions for Solutions of State Space Model Exercise Chapter 4 Controllability and Observability 4.1 Problem Formulation 4.2 Controllability 4.3 Observability 4.4 Duality Principle 4.5 Matlab Functions for Control Analysis Exercise Chapter 5 Feedback and State Observer Design 5.1 State Feedback and Output Feedback 5.2 Pole Placement for LTI System 5.3 State Observer Design 5.4 Matlab Functions for Feedback Design Exercise Chapter 6 Stability Analysis of State Space Models 6.1 Lyapunov Stability 6.2 Lyapunov First Method 6.3 Preliminaries 6.4 Lyapunov Second Method 6.5 Matlab Functions for Stability Analysis Exercise Chapter 7 Optimal Control 7.1 Introduction of Optimal Control 7.2 Linear Quadratic Optimal Control 7.3 Matlab Functions for Linear Quadratic Problem Exercise References Appendix UAVs Control Systems