本书对现代控制理论基础做了全面系统、由浅入深的阐述。主要内容包括：控制系统的基本概念，建立系统状态空间表达式的三种方法，以及几种组合系统的数学描述；时不变及时变线性动态系统的求解，矩阵指数的概念及求解：系统能控性与能观测性概念及判别准则；线性系统反馈控制器与状态观测器的定义及设计方法；控制系统的李雅普诺夫稳定性分析；系统的状态反馈，基于状态空间的极点配置及状态估计：最优控制的概念及求解方法；系统的最小实现等。

本书对现代控制理论基础做了全面系统、由浅入深的阐述。主要内容包括：控制系统的基本概念，建立系统状态空间表达式的三种方法，以及几种组合系统的数学描述；时不变及时变线性动态系统的求解，矩阵指数的概念及求解：系统能控性与能观测性概念及判别准则；线性系统反馈控制器与状态观测器的定义及设计方法；控制系统的李雅普诺夫稳定性分析；系统的状态反馈，基于状态空间的极点配置及状态估计：最优控制的概念及求解方法；系统的最小实现等。每章后均附有习题。在本书的最后还给出了控制理论术语的中英文对照索引。

本书可作为高等学校自动化专业及相关专业研究生或高年级本科生的双语课教材，也可供从事自动化工作的工程技术人员参考。

1 Mathematical Description

 1.1 Examples

1.1.1 An RLC Network

1.1.2 A Moving Body System

 1.2 System Description

1.2.1 Differential Operator Representation

1.2.2 Transfer Matrix Representation

1.2.3 State Space Representation

 1.3 Obtaining State Equations

1.3.1 Finding State Equations from Differential Operator Representation

1.3.2 Finding the State Equation from Transfer Function

 1.4 Obtaining Transfer Function Matrix from State Equations

 1.5 Mathematical Description of Composite Systems

1.5.1 Parallel Connection

1.5.2 Tandem Connection

1.5.3 Feedback Connection

 1.6 Equivalent Systems

 1.7 Problems

2 Solutions of Linear Dynamical Systems

 2.1 Time-Invariant Homogeneous Systems

 2.2 Properties of the Matrix Exponential

2.2.1 Properties of the Matrix Exponential

2.2.2 The Matrix Exponential for Common Matrices

2.2.3 Calculations of the Matrix Exponential

 2.3 Time-varying Homogeneous Systems

 2.4 Solutions of Linear Dynamical Systems

2.4.1 Linear Time-varying Dynamical Systems

2.4.2 Linear Time-invariant Dynamical Systems

 2.5 Problems

3 Controllability and Observability

 3.1 Introduction

 3.2 Definitions

3.2.1 Controllability

3.2.20bservability

 3.3 Linear Time-invariant Systems with Distinct Eigenvalues

 3.4 Linear Time-invariant Systems with Arbitrary Eigenvalues

 3.5 Time-varying Linear Systems

  3.6 Illustrative Problems

  3.7 Canonical Decomposition

3.7.1 Controllability Decomposition

3.7.20bservability Decomposition

3.7.3 Canonical Decomposition Theorem

3.7.4 Irreducible Dynamical Equation

  3.8 Duality and Dual Systems

  3.9 Controllability Index and Observability Index

  3.10 Problems

4 Stability of Linear Systems

  4.1 Definitions

 4.2 Stability of Linear Time-varying Systems

 4.3 Stability of Linear Time-invariant Systems

 4.4 The Direct Method of Lyapunov

 4.5 Problems

5 State Feedback and Estimator

 5.1 The Effect of Feedback on System Properties

5.1.1 Controllability

5.1.20bservability

5.1.3 Stability

 5.2 Pole Placement

5.2.1 Single-input Case

5.2.2 Multi-input Case

5.2.3 Stabilization

 5.3 Decoupling by State Feedback

 5.4 State Estimator

5.4.1 Full-dimensional State Estimator

5.4.2 Reduced-dimensional State Estimator

 5.5 Feedback System with State Estimator

 5.6 Problems

6 Optimal Control Theory

 6.1 Introduction

 6.2 Practical Examples of Optimal Control

6.2.1 The Problem on Soft Landing of the Space Craft

6.2.2 Rocket Launching Problem

 6.3 Description of Optimal Control Problem

 6.4 Solutions to Optimal Control Problems

6.4.1 Free Terminal Problem

6.4.2 Fixed Terminal Problem

6.4.3 Time Optimal Problem

 6.5 Pontryagin's Minimum Principle

 6.6 Problems

7 Irreducible Realizations

 7.1 Introduction

 7.2 Degree and Characteristic Polynomial

 7.3 Irreducible Realizations

7.3.1 Irreducible Realizations of Proper Rational Functions

7.3.2 Observable Canonical Form Realization

7.3.3 Controllable Canonical Form Realization

 7.4 Problems

Index

References