自动控制原理是自动化、电气工程及其自动化专业的专业基础课程。

近年来，为了更好地与国际接轨，国内高校大力推广自动控制原理的双语教学。国内出版社也引进了几部有影响的有关经典控制理论教学内容的教材。但其中关于现代控制理论的英文参考书，适用于本科教学的，目前几乎没有。基于此，我们参照H．Unbehauh教授所主编教材第二册的结构，编写了这本现代控制理论英文教材。主要内容包括状态空间法、数字控制系统和非线性控制系统三部分内容。该教材最初是以讲义的形式印刷，并进行了三年的试用。本次出版，作者许维胜、朱劲、王中杰又进行了修订，根据教学中发现的问题对内容进行了调整和增删。

Section Ⅰ State Space Analysis and Synthesis of Linear Systems

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-space

description

1.7.1 Transfer function from state-space description

1.7.2 State-space representations from transfer functions--

Realizations

Problems

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 systems

Problems

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 with

multi-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 canonical

forms 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

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

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

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

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

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