文档介绍：Slotine • Li APPLIED NONLINEAR CONTROL
! i
APPLIED
NONLINEAR
CONTROL
Jean-Jacques E Slotine
Weiping Li
Applied
Nonlinear
Control
JEAN-JACQUES E. SLOTINE
Massachusetts Institute of Technology
WEIPING LI
Massachusetts Institute of Technology'
Prentice Hall
Englewood Cliffs, New Jersey 07632
Library of Congress Cataloging-in-Publication Data
Slotine, J.-J. E. (Jean-Jacques E.)
Applied nonlinear control / Jean-Jacques E. Slotine, Weiping Li
p. cm.
Includes bibliographical references.
ISBN 0-13-040890-5
1, Nonlinear control theory. I. Li, Weiping. II. Title.
1991 90-33365
'312-dc20 C1P
Editorial/production supervision and
interior design: JENNIFER WENZEL
Cover design: KAREN STEPHENS
Manufacturing Buyer: LORI BULWIN
=^= © 1991 by Prentice-Hall, Inc.
^=&= A Division of Simon & Schuster
T k Englewood Cliffs, New Jersey 07632
All rights reserved. No part of this book may be
reproduced, in any form or by any means,
without permission in writing from the publisher.
Printed in the United States of America
20 19 18 17 16 15 14 13 12 1]
ISBN D-13-DHDfiTa-S
Prentice-Hall International (UK) Limited, London
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To Our Parents
Contents
Preface xi
1. Introduction 1
Why Nonlinear Control ? 1
Nonlinear System Behavior 4
An Overview of the Book 12
Notes and References 13
Part I: Nonlinear Systems Analysis 14
Introduction to Part I 14
2. Phase Plane Analysis 17
Concepts of Phase Plane Analysis 18
Phase Portraits 18
Singular Points 20
Symmetry in Phase Plane Portraits 22
Constructing Phase Portraits 23
Determining