本书是自动控制领域的名著，被包括斯坦福大学在内的众多名校采用，曾荣获国际自动控制联合会(IFAG)教材大奖。本书比较系统地阐述了自动控制的基本原理，设计方法及其在现实应用中遇到的许多实际问题，主要介绍了根轨迹法、频率响应法等古典控制理论及状态空间法、计算机控制技术等现代控制理论的设计手段、设计方法、实现技术以及分析工具等。

本书主要特点：注重实际应用和工程概念；结合作者多年实际工作经验，列举了大量应用实例。大量使用了在控制系统分析与设计中广泛使用的计算机工具MATLAB，并详细给出了计算程序和结果，对控制系统的分析与设计有极好的应用价值。附录中给出了大量学习本书必需的基础理论及数学工具，并对每章精心设计的习题给出了解答，使全书内容更加完整。具有较好的教学灵活性和可读性，既适合作为高校教材，又适合工程人员自学。

本书是自动控制领域的名著，内容紧密围绕自动控制系统的分析与设计理论展开，主要介绍了自动控制的动态模型、动态响应、基本特性，着重介绍了自动控制的几种常规设计技术，还涉及了非线性系统的分析与设计，并穿插了许多自动控制在MATLAB下的仿真实例。

本书可作为高等院校自动控制及相关专业的高年级本科生和研究生的教材，还可供有关专业的教师、研究人员及从事自动控制相关工作的工程技术人员参考。

1 An Overview and Brief History of Feedback Control    1

A Perspective on Feedback Control        1

Chapter Overview        1

1.1 A Simple Feedback System        2

1.2 A First Analysis of Feedback        5

1.3 A Brief History        7

1.4 An Overview of the Book        12

Summary        13

End-of-Chapter Questions        14

Problems        14

2 Dynamic Models    17

A Perspective on Dynamic Models        17

Chapter Overview        17

2.1 Dynamics of Mechanical Systems        18

2.2 Models of Electric Circuits        28

2.3 Models of Electromechanical Systems        31

▲2.4 Heat and Fluid-Flow Models        36

▲2.5 Complex Mechanical Systems        45

Summary        49

End-of-Chapter Questions        49

Problems        50

3 Dynamic Response        58

A Perspective on System Response        58

Chapter Overview        58

3.1 Review of Laplace Transforms        58

3.2 System Modeling Diagrams    80

3.3 Effect of Pole Locations    84

3.4 Time-Domain Speci?cations    90

3.5 Effects of Zeros and Additional Poles    94

3.6 Amplitude and Time Scaling    98

3.7 Stability    100

▲3.8 Obtaining Models from Experimental Data    108

▲3.9 Mason’s Rule and the Signal-Flow Graph    109

Summary     112

End-of-Chapter Questions    113

Problems    114

4 Basic Properties of Feedback    127

A Perspective on the Properties of Feedback    127

Chapter Overview    127

4.1 The Basic Equations of Control    128

4.2 Control of Steady-State Error: System Type    134

4.3 Control of Dynamic Error: PID Control    142

▲4.4 Extensions to the Basic Feedback Concepts    146

Summary     160

End-of-Chapter Questions    161

Problems    161

5 The Root-Locus Design Method    177

A Perspective on the Root-Locus Design Method    177

Chapter Overview    177

5.1 Root Locus of a Basic Feedback System    178

5.2 Guidelines for Sketching a Root Locus    182

5.3 Selected Illustrative Root Loci    191

5.4 Selecting the Parameter Value    201

5.5 Design Using Dynamic Compensation    203

5.6 A Design Example Using the Root Locus    210

5.7 Extensions of the Root-Locus Method    215

Summary     222

End-of-Chapter Questions    223

Problems    224

6 The Frequency-Response Design Method    239

A Perspective on the Frequency-Response Design Method    239

Chapter Overview    239

6.1 Frequency Response    240

6.2 Neutral Stability    256

6.3 The Nyquist Stability Criterion    258

6.4 Stability Margins    267

6.5 Bode’s Gain–Phase Relationship    272

6.6 Closed-Loop Frequency Response    275

6.7 Compensation    276

▲6.8 Alternative Presentations of Data    295

▲6.9 Speci?cations in Terms of the Sensitivity Function    299

▲6.10 Time Delay    305

Summary     307

End-of-Chapter Questions    309

Problems    310

7 State-Space Design    329

A Perspective on State-Space Design    329

Chapter Overview    329

7.1 Advantages of State Space    330

7.2 System Description in State Space    331

7.3 Block Diagrams and State Space    336

7.4 Analysis of the State Equations    339

7.5 Control-Law Design for Full-State Feedback    355

7.6 Selection of Pole Locations for Good Design    366

7.7 Estimator Design    374

7.8 Compensator Design: Combined Control Law and Estimator    385

7.9 Introduction of the Reference Input with the Estimator    396

7.10 Integral Control and Robust Tracking    406

▲7.11 Loop Transfer Recovery (LTR)    420

▲7.12 Direct Design with Rational Transfer Functions    424

▲7.13 Design for Systems with Pure Time Delay    427

Summary      431

End-of-Chapter Questions    432

Problems    434

8 Digital Control    452

A Perspective on Digital Control    452

Chapter Overview    452

8.1 Digitization    452

8.2 Dynamic Analysis of Discrete Systems    454

8.3 Design Using Discrete Equivalents    460

8.4 Hardware Characteristics    468

8.5 Sample-Rate Selection    471

▲8.6 Discrete Design    473

▲8.7 State-Space Design Methods    479

Summary      485

End-of-Chapter Questions    486

Problems    487

9 Nonlinear Systems    497

Perspective on Nonlinear Systems    497

Chapter Overview    497

9.1 Introduction and Motivation: Why Study Nonlinear Systems?    498

9.2 Analysis by Linearization    499

9.3 Equivalent Gain Analysis Using the Root Locus    505

9.4 Equivalent Gain Analysis Using Frequency Response: Describing

Functions    513

▲9.5 Analysis and Design Based on Stability    522

Summary     537

End-of-Chapter Questions    537

Problems    538

10 Control System Design: Principles and Case Studies    545

A Perspective on Design Principles    545

Chapter Overview    545

10.1 An Outline of Control Systems Design    545

10.2 Design of a Satellite’s Attitude Control    550

10.3 Lateral and Longitudinal Control of a Boeing 747    561

10.4 Control of the Fuel–Air Ratio in an Automotive Engine    574

10.5 Control of the Read/Write Head Assembly of a Hard Disk    580

10.6 Control of Rapid Thermal Processing (RTP) Systems in Semiconductor Wafer Manufacturing    586

Summary     597

End-of-Chapter Questions    599

Problems    599

Appendix A1 Laplace Transforms    610

A.1 The ?L-Laplace Transform    610

A.2 Final Value Theorem    620

Appendix B A Review of Complex Variables    622

B.1 Definition of a Complex Number    622

B.2 Algebraic Manipulations    623

B.3 Graphical Evaluation of Magnitude and Phase    625

B.4 Differentiation and Integration    625

B.5 Euler’s Relations    626

B.6 Analytic Functions    626

B.7 Cauchy’s Theorem    626

B.8 Singularities and Residues    627

B.9 Residue Theorem    628

B.10 The Argument Principle    628

B.11 Bilinear Transformation    629

Appendix C Summary of Matrix Theory    631

C.1 Matrix Definitions    631

C.2 Elementary Operations on Matrices    631

C.3 Trace    632

C.4 Transpose    632

C.5 Determinant and Matrix Inverse    632

C.6 Properties of the Determinant    633

C.7 Inverse of Block Triangular Matrices    634

C.8 Special Matrices    634

C.9 Rank    635

C.10 Characteristic Polynomial    635

C.11 Cayley-Hamilton Theorem    635

C.12 Eigenvalues and Eigenvectors    635

C.13 Similarity Transformations    636

C.14 Matrix Exponential    636

C.15 Fundamental Subspaces    637

C.16 Singular-Value Decomposition    637

C.17 Positive Definite Matrices    638

C.18 Matrix Identity    638

Appendix D Controllability and Observability    639

D.1 Controllability    639

D.2 Observability    643

Appendix E Ackermann’s Formula for Pole Placement    645

Appendix F MATLAB Commands    648

Appendix G Solutions to the End-of-Chapter Questions    649

References    661

Index    668