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第三版的英文原文feedback system：An Introduction for Scientists and Engineers SECOND EDITION Version v3.0i (2018-09-30) Karl Johan °Astr¨om Richard M. Murray 注：自己下载拼合而成

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Feedback Systems

An Introduction for Scientists and Engineers

SECOND EDITION

Karl Johan

Astr¨om

Richard M. Murray

Version v3.0i (2018-09-30)

This is the electronic edition of Feedback Systems and is available

from http://www.cds.caltech.edu/

∼

murray/FBS. Hardcover editions

may be purchased from Princeton University Pre s s ,

http://press.princeton.edu/titles/8701.html.

This manuscript is for personal use only and may not be

reproduced, in whole or in part, without written c ons e nt fromthe

publisher (see http://press.princeton.edu/permissions.html).

PRINCETON UNIVERSITY PRESS

PRINCETON AND OXFORD

Contents

Preface to the Second Edition vii

Preface to the First Edition ix

Chapter 1. Introduction 1-1

1.1 What Is Feedback? 1-1

1.2 What is Feedforward? 1-4

1.3 What Is Control? 1-5

1.4 Use of Feedback and Control 1-6

1.5 Feedback Properties 1-13

1.6 Simple Forms of Feedback 1-18

1.7 Combining Feedback with Logi c 1-21

1.8 Control System Architectures 1-24

1.9 Further Reading 1-28

Exercises 1-28

Chapter 2. Feedback Principles 2-1

2.1 Nonlinear Static Models 2-1

2.2 Linear Dynamical Models 2-5

2.3 Using Feedback to Improve Disturbance Attenuation 2-13

2.4 Using Feedback to Follow Command Signals 2-17

2.5 Using Feedback to Provide Robustne s s 2-20

2.6 Positive Feedback 2-24

2.7 Further Reading 2-28

Exercises 2-29

Chapter 3. System Modeling 3-1

3.1 Modeling Concepts 3-1

3.2 State Space Models 3-10

3.3 Modeling Methodology 3-22

3.4 Modeling Examples 3-30

3.5 Further Reading 3-43

Exercises 3-43

iv CONTENTS

Chapter 4. Examples 4-1

4.1 Cruise Control 4-1

4.2 Bicycle Dynamics 4-5

4.3 Operational Ampliﬁer Circuits 4-8

4.4 Computing Systems and Networks 4-11

4.5 Atomic Force Microscopy 4-17

4.6 Drug Administration 4-21

4.7 Population Dynamics 4-25

Exercises 4-27

Chapter 5. Dynamic Behavior 5-1

5.1 Solving Diﬀerential Equations 5-1

5.2 Qualitative Analysis 5-4

5.3 Stability 5-8

5.4 Lyapunov Stability Analysis 5-19

5.5 Parametric and Nonlocal Be havior 5-29

5.6 Further Reading 5-35

Exercises 5-36

Chapter 6. Linear Systems 6-1

6.1 Basic Deﬁnitions 6-1

6.2 The Matrix Exponential 6-6

6.3 Input/Output Response 6-15

6.4 Linearization 6-29

6.5 Further Reading 6-35

Exercises 6-35

Chapter 7. State Feedback 7-1

7.1 Reachability 7-1

7.2 Stabilization by State Feedback 7-9

7.3 Design Considerations 7-18

7.4 Integral Action 7-25

7.5 Linear Quadratic Regul at ors 7-28

7.6 Further Reading 7-34

Exercises 7-34

Chapter 8. Output Feedback 8-1

8.1 Observability 8-1

8.2 State Estimation 8-6

8.3 Control Using Estimated State 8-12

8.4 Kalman Filtering 8-17

8.5 State Space Controller Design 8-23

8.6 Further Reading 8-32

CONTENTS v

Exercises 8-33

Chapter 9. Transfer Functions 9-1

9.1 Frequency Domain Modeling 9-1

9.2 Determining the Transfer Function 9-3

9.3 Laplace Transforms 9-14

9.4 Block Diagrams and Transfer Functions 9-17

9.5 Zero Frequency Gain, Poles, and Zeros 9-23

9.6 The Bode Plot 9-29

9.7 Further Reading 9-40

Exercises 9-41

Chapter 10. Frequency Domain Analysis 10-1

10.1 The Loop Transfer Function 10-1

10.2 The Nyquist Criterion 10-4

10.3 Stability Margins 10-14

10.4 Bode’s Relations and Minimum Phase Systems 10-19

10.5 Generalized Notions of Gain and Phase 10-22

10.6 Further Reading 10-27

Exercises 10-28

Chapter 11. PID Control 11-1

11.1 Basic Control Functions 11-1

11.2 Simple Controllers for Complex Systems 11-7

11.3 PID Tuning 11-11

11.4 Integral Windup 11-16

11.5 Implementation 11-20

11.6 Further Reading 11-25

Exercises 11-25

Chapter 12. Frequency Domain Design 12-1

12.1 Sensitivity Functions 12-1

12.2 Performance Speci ﬁc ati on s 12-6

12.3 Feedback Design via Loop Shaping 12-13

12.4 Feedforward Desi gn 12-19

12.5 The Root Locus Method 12-25

12.6 Design Example 12-28

12.7 Further Reading 12-31

Exercises 12-32

Chapter 13. Robust Performance 13-1

13.1 Modeling Uncertainty 13-1

13.2 Stability in the Presence of Uncertainty 13-7

13.3 Performance in the Presence of Uncertainty 13-14

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