现代控制系统分析与设计精要.ppt

Chapter 1 Introduction 1.1 Motivation What is a system? A physical process or a mathematical model of a physical process that relates one set of signals to another set of signals Chapter 1 Introduction Chapter 1 Introduction Chapter 1 Introduction  Chapter 1 Introduction Converting linear constant coefficient differential equations into algebraic equations Other properties Differentiation in the frequency domain: t?f t ? -1 F s Convolution: h t ?f t ? H s ?F s Time and frequency shifting: f t-t0 u t-t0 ? e-st0 F s ; es0t f t ? F s - s0  Chapter 1 Introduction Time and frequency scaling: f at ? 1/a F s/a for a 0 Initial Value Theorem: f 0+ lims?? sF s Final Value Theorem: f ? lims?0 sF s if all the poles of sF s have strictly negative real parts  Chapter 1 Introduction  Chapter 1 Introduction  Chapter 1 Introduction  Chapter 1 Introduction Limitation of Laplace transform: not effective for time varying/nonlinear systems such as Chapter 1 Introduction Chapter 1 Introduction Chapter 1 Introduction Chapter 1 Introduction Goals: To achieve a thorough understanding about systems theory and multivariable system design Tentative Outline : Introduction Modeling: How to model a physical system The fundamentals of linear algebra Analysis: Quantitative: How to derive response for a given input Qualitative: How to analyze controllability, observability, stability and robustness without knowing the exact solution? Chapter 1 Introduction Chapter 1 Introduction Prerequisites: Linear Feedback Systems Background on Linear algebra: Matrices, vectors, determinant, eigenvalue, solving a system of equations z-transform Ordinary differential equations Laplace transform, and Modeling of electrical and mechanical systems Chapter 2 Mathematical Descriptions of Systems Basic assumption: When an input signal is applied to the system, a unique output is obtained Q. How do we classify systems? Number of inputs/outputs; with/without memor