[信息与通信]1 Nonlinear Systems Theory.pptVIP

樊慧津：fanhj_hust@ 黄 剑：huang_jan@ 刘 磊：liulei@ Principle of Automatic Control II(自动控制原理II) 学时：48学时 考试：闭卷 1 王永骥，王金城，王敏主编。自动控制原理。 北京：化学工业出版社， 2007 胡寿松主编。自动控制原理。第四版。 北京：国防工业出版社，2001 Automatic Control Systems，Benjamin C.Kuo, Farid Golnarghi,第8版，影印版，高等教育出版社,2003 Modern Control Systems, Richard C.Dorf, Robert H.Bishop,第9版，影印版，科学出版社，2002 References 2 Chapter 1. Introduction Chapter 2. Mathematical Models of Linear Systems Chapter 3. Analyses in Time Domain for Linear Systems Chapter 4. Root Locus Chapter 5. Analyses in Frequency Domain for Linear Systems Chapter 6. Controller Design for Linear Systems Classic Control Theory 3 Chapter 7. Linear Discrete-Time System 16h Chapter 8. Nonlinear System Theory 12h Chapter 9. State Space Method 20h Modern Control Theory 4 Chapter 8 Nonlinear Systems Theory 8.1 Overview of Nonlinear Systems (1h) 8.2 Typical Nonlinear Characteristics and Mathematical Description (1h) 8.3 Describing Function Approach (4h) 8.4 Phase Plane Analysis (6h) 5 6 Nonlinear Models and Nonlinear Phenomena Examples: Pendulum Equation: l denotes the length of the rigid rod with zero mass, m denotes the mass of the bot, g is the acceleration due to gravity, k is a coefficient of friction proportional to the speed of the bob. From Newton’s second law, the equation of motion in the tangential direction is: Interesting Examples of Nonlinearity Other pendulums: Acrobot Robots Biomimetic robots 7 Interesting Examples of Nonlinearity Lorenz Chaotic Attractor 8 Mr. J. Watt … Nonlinear can be found everywhere If ε→0, it is a linear System; If ε cannot be ignored, it is a Nonlinear System. §8.1 Overview of Nonlinear Systems Such as： 11 1. Significance of Studying Non-linear Systems 1) There are no systems without nonlinearity. Dead-zone characteristics of measurement element; Saturation characteristics of amplification element; Dead-zone and saturation characteristics of actuator; Gap Characteristics of actuating unit and so on… 2) The i