线性系统理论第二章.ppt

Linear System Theory Lecture 1 Introduction Contents Introduction to control Development of control theory Steps to design control Mathematical model of system How to build mathematical model of a system Relation of different models Background knowledge Milestones in development of Control Theory Classical Control Theory: Before 1950’s. Characterized by Transfer Function analysis method. Not very good for multi-variable or large-scale system Root Locus, Frequency Response methods are extensively used Very much dependent on design experience Milestones in development of Control Theory Modern Control Theory: After 1960’s. Characterized by state variable analysis method. Very good for multi-variable or large-scale system, and can be easily extended to time-variable system or even non-linear system Systematic methods are developed to analyze the controllability, observability and stability Performance can be clearly specified and analytical methods are developed to accomplish the design Milestones in development of Control Theory Large-scale System Theory and Intelligent Control After 1970’s Proposed for dealing with large-scale, complex, and hierarchical control of large system. Highly intelligent, adaptive and robust Control Examples Control Examples Control Examples Modeling of physical system Simulation / Visualization Validation A control model Definition of “system” Definition: Literally: a group or combination of interrelated, interdependent, or interacting elements forming a collective entity; a methodical or coordinated assemblage of parts, facts, concepts, etc. Here: Mathematical description of a relationship between externally supplied quantities (I.e., those coming from outside of the system) and the dependent quantities that result from the action or effect on those external quantities Why we need to study a system? Because we want to control it. Some terms SISO: Single-Input-Single-Output MIMO: Multiple-Input-Multiple-Output SIMO: MISO: S