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Feedback systems: An introduction for scientists and engineers

feedback，

control

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经典的教材，Karl J. Astrom 经典教材 Feedback systems: An introduction for scientists and engineers

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print.tex, v1.27 2008/01/25 21:53:54 (murray)

Feedback Systems

print.tex, v1.27 2008/01/25 21:53:54 (murray)

Feedback Systems

An Introduction for Scientists and Engineers

Karl Johan

Aström

Richard M. Murray

PRINCETON UNIVERSITY PRESS

PRINCETON AND OXFORD

print.tex, v1.27 2008/01/25 21:53:54 (murray)

Published by Princeton University Press

41 William Street, Princeton, New Jersey 08540

In the United Kingdom: Princeton University Press

6 Oxford Street, Woodstock, Oxfordshire OX20 1TW

Library of Congress Cataloging-in-Publication Data

Åström, Karl J. (Karl Johan), 1934-

Feedback systems : an introduction for scientists and engineers / Karl Johan

Åström and Richard M. Murray

p. cm.

Includes bibliographical references and index.

ISBN-13: 978-0-691-13576-2 (alk. paper)

ISBN-10: 0-691-13576-2 (alk. paper)

1. Feedback control systems. I. Murray, Richard M., 1963-. II. Title.

TJ216.A78 2008

629.8



3–dc22 2007061033

British Library Cataloging-in-Publication Data is available

This book has been composed in L

The publisher would like to acknowledge the authors of this volume for providing

the camera-ready copy from which this book was printed.

Printed on acid-free paper. ∞

press.princeton.edu

Printed in the United States of America

10987654321

Frontmatter.tex, v1.80 2008/01/30 07:21:04 (murray)

Contents

Preface ix

Chapter 1. Introduction

1.1 What Is Feedback? 1

1.2 What Is Control? 3

1.3 Feedback Examples 5

1.4 Feedback Properties 17

1.5 Simple Forms of Feedback 23

1.6 Further Reading 25

Exercises 25

Chapter 2. System Modeling 27

2.1 Modeling Concepts 27

2.2 State Space Models 34

2.3 Modeling Methodology 44

2.4 Modeling Examples 51

2.5 Further Reading 61

Exercises 61

Chapter 3. Examples 65

3.1 Cruise Control 65

3.2 Bicycle Dynamics 69

3.3 Operational Ampliﬁer Circuits 71

3.4 Computing Systems and Networks 75

3.5 Atomic Force Microscopy 81

3.6 Drug Administration 84

3.7 Population Dynamics 89

Exercises 91

Chapter 4. Dynamic Behavior 95

4.1 Solving Differential Equations 95

4.2 Qualitative Analysis 98

4.3 Stability 102

4.4 Lyapunov Stability Analysis 110

4.5 Parametric and Nonlocal Behavior 120

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