文档介绍：CONTROL SYSTEM
DESIGN
Graham C. Goodwin1
Stefan F. Graebe2
Mario E. Salgado3
Valpara´ıso, January 2000
1Centre for Integrated Dynamics and Control
University of Newcastle, NSW 2308 AUSTRALIA
2OMV Aktiengesellschaft
Department of Optimization/Automation
Schwechat, AUSTRIA
3Departamento de Electr´onica
Universidad T´ecnica Federico Santa Mar´ıa
Valpara´ıso, CHILE
Dedicated, in thankful appreciation
for support and understanding, to
Rosslyn
Alice
Mariv´ı
CONTENTS OVERVIEW
I THE ELEMENTS 1
1 The Excitement of Control Engineering 5
2 Introduction to the Principles of Feedback 21
3 Modeling 41
4Continuous Time Signals and Systems 65
II SISO CONTROL ESSENTIALS 117
5 Analysis of SISO Control Loops 121
6 Classical PID Control 157
7 Synthesis of SISO Controllers 177
III SISO CONTROL DESIGN 195
8 Fundamental Limitations in SISO Control 199
9 Frequency Domain Design Limitations 239
10 Architectural Issues in SISO Control 263
11 Dealing with Constraints 291
IV PUTER CONTROL 313
12 Models for Sampled Data Systems 317
13 Digital Control 351
14Hybrid Control 385
V ADVANCED SISO CONTROL 401
15 SISO controller Parameterizations 405
16 Control Design Based on Optimization 455
17 Linear State Space Models 483
18 Synthesis via State Space Methods 515
19 Introduction to Nonlinear Control 547
VI MIMO CONTROL ESSENTIALS 583
20 Analysis of MIMO Control Loops 587
21 Exploiting SISO Techniques in MIMO Control 627
VII MIMO CONTROL DESIGN 649
22 Design via Optimal Control Techniques 653
23 Model Predictive Control 715
24Fundamental Limitations in MIMO Control 743
VIII ADVANCED MIMO CONTROL 779
25 MIMO Controller Parameterizations 783
26 Decoupling 823
vii
CONTENTS
CONTENTS OVERVIEW vii
ACKNOWLEDGEMENTS xxi
PREFACE xxiii
APPENDICES xxix
I THE ELEMENTS 1
PREVIEW 3
1 THE EXCITEMENT OF CONTROL ENGINEERING 5
Preview 5
Motivation for Control Engineering 5
Historical Periods of Con