现代控制理论课件msw-lecture-6.pptVIP

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2017-08-25 发布于广东
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现代控制理论课件msw-lecture-6.ppt

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Part II NONLINEAR CONTROL SYSTEM Content: II.1 Basic Concepts of Nonlinear Control Theory II.2 Design Principles of Single-Input Single-Output Nonlinear Control System II.3 Design Principles of Multi-Input Multi-Output Nonlinear Control Systems II.4 Nonlinear Controller of Excitation System Lecture 6Basic Concepts of Nonlinear Control Theory II.1.1 Introductions II.1.2 Vector Fields II.1.3 Affine Nonlinear Control Systems II.1.4 Coordinate Transformation and Diffeomorphism II.1.5 Derived Mapping of Vector Fields II.1.6 Coordinate Transformation of Nonlinear Systems II.1.7 Lie Derivative and Lie Bracket II.1.8 Involutivity of Vector Field Sets II.1.9 Relative Degree of a Control System II.1.10 Summary General View of Differential Geometry Theory ： II.1.1 Introduction Some specific concepts and definitions of nonlinear control theory Some notations introduced in this chapter The relations of these concepts II.1.2 Vector Field II.1.3 Affine Nonlinear Control Systems ——vector fields description II.1.4 Coordinate Transformation and Diffeomorphism II.1.5 Derived Mapping of Vector Fields II.1.6 Coordinate Transformation of Nonlinear Control Systems II.1.7 Lie Derivative and Lie Bracket II.1.8 Involutivity of Vector Field Sets How to understand it geometrically II.1.9 Relative Degree of a Control System Example 5 II.1.10 Summary Coordinate transformation Affine nonlinear systems Lie derivative and Lie bracket Nonlinear system’s exact linearization Homework If take as the control input, as the output, please compute the relative degree of the fast valve system (5.14-15). Give the following vector fields Please consider the involutivity of the vector fields set . Thanks! ? * * We can describe a general nonlinear system as: Step 1. Construct the Affine Nonlinear Control Systems smooth vector field on Manifold M （Manifold） Step 2. By