（经典控制理论英文版）RegenerationTheory.pdfVIP

Regeneration Theory H. NYQUIST B Y 1932 feedback systems were used extensively in appli- of understanding the mechanisms that created the instabilities cations such as power generation and transmission, steering of and to avoid them was a key issue which was solved in Nyquists ships, autopilots for aircrafts, and process control; see [2] and paper. The problem of stability is intimately connected with [3]. Theoretical investigations typically consisted of stability feedback. Instabilities are frequently encountered whenever analysis. This was done by linearizing the equations describ- feedback is used. The problem of understanding the stability ing the systems and investigating the roots of the characteristic problem had earlier been a very strong motivation both for equation by the Routh-Hurwitz method. Nice examples of this Maxwell [8], in connection with governors, and for Stodola approach are found in the early textbook on turbine control by [10], in connection with water turbines. Before the publication Tolle [11] and in the analysis of an autopilot for ship steering by of Nyquists paper, stability was investigated by studying the Minorsky [9]. A severe drawback with the approach was that the roots of the characteristic equation of the linearized equations analysis gave no guidelines for modifying an unstable system to of motion. make it stable. Nyquist departed drastically from previous work by develop- This paper by Nyquist, and the closely related papers by Black ing frequency domain crit