Modern control theory.doc

Modern Control Theory In contrast to形成对照the frequency domain频域 analysis of the classical control theory, modern control theory utilizes利用the time-domain state space representation时域状态空间表示法, a mathematical model of a physical system as a set of input, output and state variables变量 related by first-order differential equations一阶微分方程. To abstract提取from the number of inputs, outputs and states, the variables are expressed as vectors向量 and the differential and algebraic equations微分和代数方程 are written in matrix矩阵form.Unlike the frequency domain approach, the use of the state space representation is not limited to systems with linear components线性元件and zero initial conditions零初始条件. In this course，I mainly learn the representation of State Space Model, controllability能控性，observability能观性 and Lyapunov stability theory. the representation of State Space Model 找一个简单的例子 P 6 例1.1.1 你的是P10 1.1.4 A状态矩阵state matrix B输入矩阵input matrix x状态向量state vector u输入向量input vector =Ax+Bu C输出矩阵output matrix D直接传递矩阵 Directly transfer matrix y输出向量output vector y=Cx+Du Work out the State Space Model by transfer function The formula is that P18 你的 P24 Controllability =Ax+Bu x is a n dimension state vector. To a state x0,if there is a control signal u(t) and a finite time interval有限时间段[0,T],the control signal can change the systems state x0 to 0 in the finite time interval,we call the system is controllable. The necessary and sufficient condition of that the system is controllable is rank([B AB ... B])=n P71 例3.1.1 你的自己找 observability =Ax y=Cx To the system,the output response is always 0,when the original state x0 is not 0 y(t)=Cx(t)=0, we call the state is unobservable. If not we call the state of system is observable. The necessary and sufficient condition of that the systems state is observable is rank=n P82 例3.2.2 Lyapunov stability theory In simple terms, if all solutions of the dynamical system动力系统that start out near an equilibrium point平衡点 stay near forever, then is Ly