现代控制理论课件msw-lecture-3.pptVIP

Modern Control Theorylecture 3 I.2 Linear Optimal Control I.2.1 Introduction 1. Conventional control theory Based on Transfer functions: complex frequency-domain approach. Root-locus plots Nyquist plots Bode plots. Main disadvantage PID: which don’t yield optimal control law. Only adapt to:Linear time-invariant systems and SISO ( having a single input and a single output). I.2.1 Introduction 2. Modern control theory VS conventional control theory Based on state space modeling: time-domain approach Main advantage? Adapt to MIMO Linear or non-linear, time-invariant or time-varying Systems design in optimal control theory I.2.2 Basic Concepts 1.State variables If at least n variables are needed to completely describe the behavior of dynamic system, then such n variables are a set of state variables. 2.State vector X(t)= 3.State space The n-dimensional space whose coordinate axes consist of the axis, axis,…,axis is called state space. Any certain state can be represented by a point in the state space. A dynamic control system possesses the form as where can be linear or non-linear functions. Matrix form of system Consider a multiple-input-multiple-output system Linear state equation matrix form where 6. Dynamic control system a state vector a control vectoer 7. Equilibrium state of the system If a vector Xe satisfy with 8.Lyapunov Stability Suppose 8.Lyapunov Stability Definition 2 I.2.3 Dynamic Performance Index of Control Systems 1. The performance index I.3 Calculus of Variations I.3.1 Functional and Variational Problem I.3.2 Differential Calculus and Variational Calculus I.3.3 Extreme Points of Functions and Extr Curves of Functionals I.3.4 Euler’s Equation I.3.5 Variational Problem with Constraints ——Euler-Lagrange Equation I.3.1 Functional and Variational Problem ? 1.Background Started in 1696, Euler, Lagrange, Newton and Bernoulli.Euler-Lagrange equation Example1: Given two point