杭州电子科技大学现代控制理论基础课件第一章 状态空间描述（1）.ppt

Modern Control Theory Lecture 1, written by Xiaodong Zhao Modern Control Theory Letures Notes Coryrighr@Xiaodong zhao Modern Control Theory Syllabus Course Coordinator: Dr. Xiaodong Zhao Room: Building Lab 2, south 506 Tel: Email: xdzhao@ Lecture: 2 hours per week Reference Books: Xie Keming, Modern Control, Beijing University of Technology, 2000. Liu Bao, Modern Control, China Machine Press, 1997. Grading: Final Exam: 50% Midterm Exam: 20% Homework: 15% Attendance: 15% Homework: 4~6 problems per chapter 1 Enjoy your study Enjoy your life! Contents Chapter 1: State Space Description Chapter 2: Linear System Analysis Chapter 3: Controllability Observability Chapter 4 Stability of Control System Chapter 5 State Feedback and State Observer Chapter 1: State Space Description 1.1 Basic Concepts State: is a set of numbers such that the knowledge of these numbers and the input functions will, with the equations describing the dynamics, provide the future state and output. State Variables: variables that determine the future behavior of a system when the present state and the excitation signals are known. State Vector: the column matrix consisting all n state variables State Space: the n dimensional space constructed by the state variables 1.2 State Space Description State differential equation Output equation Compact notation Example 1: Consider the RLC circuit Input: Output: Energy stored in capacitor inductor Utilizing Kirchhoff’s law: Let , we get Note that , we have Let , we get The state variables are not a unique set, the number of state variables is equal to the number of independent energy-storage elements. Different types of description Nonlinear time variant system Nonlinear time invariant system Linear time variant