文档介绍：12
Fundamentals of
Control Theory
Bill Goodwine Introduction
University of Notre Dame Classical Linear Control
Mathematical Preliminaries • Control System Analysis and
Design • Other Topics
“Modern” Control
Pole Placement • The Linear Quadratic Regulator • Basic
Robust Control
Nonlinear Control
SISO Feedback Linearization • MIMO Full-State Feedback
Linearization • Control Applications of Lyapunov Stability
Theory • Hybrid Systems
Parting Remarks
Introduction
This chapter reviews the fundamentals of linear and nonlinear control. This topic is particularly important
in microelectromechanical systems (MEMS) applications for two reasons. First, as electromechanical
systems, MEMS devices often must be controlled in order to be utilized in an effective manner. Second,
important applications of MEMS technology are controls-related because of the utility of MEMS devices
in sensor and actuator technologies. Because the area of control is far too vast to be entirely presented in
one self-contained chapter, the approach adopted for this chapter is to outline a variety of techniques
used for control system synthesis and analysis, provide at least a brief description of their mathematical
foundation, discuss the advantages and disadvantages of each of the techniques and provide sufficient
references so that the reader can find a starting point in the literature to fully implement any described
techniques. The material varies from the extremely basic (., root locus design) to relatively advanced
material (., sliding mode control) to cutting-edge research (hybrid systems). Some examples are
provided; additionally, many references to the literature are provided to help the reader find further examples
of a particular analysis or synthesis technique.
This chapter is divided into three sections, each of which considers both the stability and performance
of a control system. The term performance includes b