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详细说明：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Contents
Preface to the second edition
Preface to the first edition
X
Chapter 1. Introduction
1.1
Vhat Is feed back?
1-1
1.2 What is Feedforward?
1-4
1.3 What is Control
1. 4 Use of feedback and control
1-6
1.5 Feedback Properties
1-13
1.6 Simple Forms of Feed back
18
1.7 Combining Feedback with Logic
l-21
1.8 Control System Architectures
1-24
Further Reading
l-28
Exercises
1-28
Chapter 2. Feedback Principles
2.1 Nonlinear Static Models
2.2 Linear Dynamical Models
2.3 Using Feedback to Improve Disturbance Attenuation
2-13
2. 4 Using Feedback to Follow Command Signals
2-17
5 Using Feedback to Provide robustness
2-20
2.6 Positive Feedback
2-24
2.7 Further Reading
2-28
xercises
2-29
Chapter 3. System Modeling
3.1 Modeling Concepts
3-
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
CONTENTS
Chapter 4. Examples
4-1
4.1 Cruise Contro
4.2 Bicycle dynan
4-
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
E× cerises
4-27
Chapter 5. Dynamic Behavi
5-1
5.1 Solving Differential Equations
5.2 Qualitative analysis
5-4
5.3 Stabil
5. 4 Lyapunov Stability Analysis
5-19
5.5 Parametric and Nonlocal behavior
5.6 Further Readin
5-35
E× excises
5-36
Chapter 6. Linear Systems
6-1
Basic definitions
6-1
6.2
he matiⅸ Exponentia
6-6
6.3 Input /Output Response
6-15
6. 4 Linearization
6-29
6.5 Further Readin
6-35
Exercises
6-35
Chapter 7. State Feedback
7.1 Reachability
7-1
7.2 Stabilization by state Feedback
7. 3 Design Considerations
7-18
7.4 Integral Action
7-25
7.5 Linear Quadratic regulators
7-28
7.6 Further Reading
7-34
Exercises
7-34
Chapter 8. Output Feedback
8-1
8. 1 Observability
8.2
State Estimation
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
Exercises
8-33
Chapter 9. Transfer Functions
9-1
9.1 Frequency Domain Modeling
9-1
2 Determining the Transfer Function
9-3
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
Exercis
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 Sta bility 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
Eⅹ excises
10-28
hapter 11. PID Cont
11.1 Basic Control functions
11.2 Simple Controllers for Complex Systems
l1-7
113
PID Tuning
l1-11
Integral Windup
l1-16
11.5 Implementation
11-20
6
Further Reading
ll-25
Exercises
1-25
Chapter 12. Frequency Domain Design
12-1
12. 1 Sensitivity functions
12-1
12.2 Performance Specifications
12-6
12.3 Feedback Design via Loop Shaping
12-13
12. 4 Feedforward Design
12-19
12.5 The Root Locus Method
12-25
12.6 Design Example
12-28
12.7 Further Readin
g
l2-31
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
CONTENTS
13. 4 Design for Robust Performance
13-18
3.5 Further Reading
13-27
Xercises
13-28
Chapter 14. Fundamental Limit
141
14.1 Effects of decision decisions
14-1
14.2 Nonlinear effects
14-2
14.3 Bode's Integral formula
14-6
14.4 Gain Crossover Frequency Inequali
14-10
14. The maximum Modulus principle
14-15
14.6 Robust pole placement
14-20
14.7 Further reading
14-26
Exercises
14-26
Chapter 15. Architecture and System Design
15-1
15.1 Introduction
15.2 System and Control Design
15-2
15.3 Top-Down Architectures
15-6
15. 4 Bottom-Up Architectures
15-17
15.5 nteract
15-25
5.6 Adaptation and Learning
15-30
15.7 Control design in Common application fields
15-38
15. 8 Further Readin
15-43
Bibliograph
Inde
1-1
Preface to the second edition
The second edition of Feedback Systems contains a variety of changes that are
based on feedback on the first edition, particularly in its use for introductory
courses in control. One of the primary comments from users of the text was that
the use of control tools for design purposes occurred only after several chapters
analytical tools, leaving the instructor having to try to convince students that the
techniques would soon be useful In our own teaching, we find that we often use
design examples in the first few weeks of the class and use this to motivate the
various techniques that follow. This approach has been particularly useful in engi
neering courses, where students are often eager to apply the tools to examples as
part of gaining insight into the methods. We also found that universities that have a
laboratory component attached to their controls class need to introduce some basic
design techniques early, so that students can be implementing control laws in the
laboratory in the early weeks of the course
To help emphasize this more design-oriented flow, we have added a new chapter
on"Feedback Principlesthat illustrates some simple design principles and tools
that can be used to show students what types of problems can be solved using feed
back. This new chapter uses simple models, simulations, and elementary analysis
techniques, so that it should be accessible to students from a variety of engineer
ing and scientific backgrounds for courses in which students have already been
exposed to the basic ideas of feedback, perhaps in an earlier discipline-specific
course, this new chapter can easily be skipped without any loss of continuity
We have also rearranged some of the material in the final chapters of the book,
moving material on fundamental limits from the chapters on frequency domain
design(Chapter ll in the original text, now Chapter 12) and robust performance
Chapter 12 in the original text, now Chapter 13)into a separate chapter on funda
mental limits( Chapter 14). This new chapter also contains some additional mate-
rial on limits imposed by nonlinearities as well as technique for robust pole place
Finally, for the electronic versions of the text, we have added a new chapter
to the end of the book, focused on control architectures and design Our intention
in this chapter is to provide a systems view that describes how control design i
integrated into a larger model-based development framework, motivated in part by
lting activities with
s new chapter we also take the
opportunity to present some overview material on"bottoms up " and"top down
approaches to control architectures briefly introducing some of the many addi-
tional concepts from the field of control that are in widespread use in applications
PREFACE
In addition to these relatively large changes we have made many other smaller
changes based on the feedback we have received from early adopters of the text
We have added some material on the routh-Hurwitz criterion and root locus plots
to at least serve as "hooks for instructors who wish to cover that material in
more detail. We have also made some notational changes throughout, most no
tably changing the symbols for disturbance and noise signals to v and w, respec-
tively. The notation in the biological examples has also been updated to match the
notation used in the textbook by Del Vecchio and Murray [DM14
The electronic version of this text also contains a variety of marginal notes
that provide additional information and links to web pages, to enable readers to
access supplementary information that may be useful for those interested in more
detail. The following symbols in the margin may be used to access supplementary
information
(A Advanced material with additional details
Frequently asked question; additional details available
(H Historical information
O Link to an external site
We are indebted to numerous individuals who have taught out of the text and
sent us feedback on changes that would better serve their needs in addition to
the many individuals listed in the preface to the first edition, we would like to
also thank Kalle Astrom, Karl Bentorp, Constantine Caramanis, Bjorn Olofsson
Richard Pates, Clancy Rowley, and Andre Tits for their feedback, insights, and
ontribution
Karl johan astrom
Richard M
Murray
Lund. Sweden
Pasadena California
Preface to the first edition
This book provides an introduction to the basic principles and tools for the design
and analysis of feedback systems. It is intended to serve a diverse audience of
scientists and engineers who are interested in understanding and utilizing feedback
n physical, biological, information and social systems. We have attempted to keep
the mathematical prerequisites to a minimum while being careful not to sacrifice
rigor in the process. We have also attempted to make use of examples from a
variety of disciplines, illustrating the generality of many of the tools while at the
same time showing how they can be applied in specific application domains
a major goal of this book is to present a concise and insightful view of the
current knowledge in feedback and control systems. The field of control started
by teaching everything that was known at the time and, as new knowledge was
acquired, additional courses were developed to cover new techniques. A conse
quence of this evolution is that introductory courses have remained the same for
many years, and it is often necessary to take many individual courses in order
to obtain a good perspective on the feld In developing this book, we have at
tempted to condense the current knowledge by emphasizing fundamental concepts
We believe that it is important to understand why feedback is useful, to know the
language and basic mathematics of control and to grasp the key paradigms that
have been developed over the past half century. It is also important to be able to
solve simple feedback problems using back-of-the-envelope techniques, to recog-
nize fundamental limitations and difficult control problems and to have a feel for
available design methods
This book was originally developed for use in an experimental course at Cal
tech involving students from a wide set of backgrounds The course was offered to
undergraduates at the junior and senior levels in traditional engineering disciplines
as well as first-and second-year graduate students in engineering and science. This
latter group included graduate students in biology, computer science and physics
Over the course of several years, the text has been classroom tested at Caltech and
at Lund University, and the feedback from many students and colleagues has been
incorporated to help improve the readability and accessibility of the material
Because of its intended audience this book is organized in a slightly unusual
fashion compared to many other books on feedback and control. In particular,we
introduce a number of concepts in the text that are normally reserved for second
year courses on control and hence often not available to students who are not con
trol systems majors. This has been done at the expense of certain traditional top
icS, which we felt that the astute student could learn independently and are often
PREFACE
explored through the exercises. Examples of topics that we have included are non
inear dynamicS, Ly apunov stability analysis, the matrix exponential, reachability
and observability, and fundamental limits of performance and robustness Topics
that we have deemphasized include root locus techniques, lead/lag compensation
and detailed rules for generating Bode and Nyquist plots by hand
Several features of the book are designed to facilitate its dual function as a basic
engineering text and as an introduction for researchers in natural, information and
social sciences. The bulk of the material is intended to be used regardless of the
audience and covers the core principles and tools in the analysis and design of
feedback systems. Advanced sections, marked by the dangerous bend"symbol
shown here, contain material that requires a slightly more technical background s
of the sort that would be expected of senior undergraduates in engineering. A few
sections are marked by two dangerous bend symbols and are intended for readers
with more specialized backgrounds, identified at the beginning of the section. To
limit the length of the text, several standard results and extensions are given in the
xercises, with appropriate hints toward their solutions
To further augment the printed material contained here, a companion web site
has been developed and is available from the publisher's web page
http://www.fbsbook.org
The web site contains a database of frequently asked questions, supplemental ex
amples and exercises, and lecture material for courses based on this text. The mate
rial is organized by chapter and includes a summary of the major points in the text
as well as links to external resources The web site also contains the source code
for many examples in the book, as well as utilities to implement the techniques
described in the text. Most of the code was originally written using MATLAB M-
files but was also tested with lab view Math Script to ensure compatibility with
both packages. Many files can also be run using other scripting languages such
Octave, SciLab, SysQuake and Math
The first half of the book focuses almost exclusively on state space control sys-
tems. We begin in Chapter 3 with a description of modeling of physical, biolog
ical and information systems using ordinary differential equations and difference
equations. Chapter 4 presents a number of examples in some detail, primarily as a
reference for problems that will be used throughout the text. Following this, Chap
ter 5 looks at the dynamic behavior of models, including definitions of stability
and more complicated nonlinear behavior. We provide advanced sections in this
chapter on Lyapunov stability analysis because we find that it is useful in a broad
array of applications and is frequently a topic that is not introduced until later in
one's studies
The remaining three chapters of the first half of the book focus on linear sys
tems, beginning with a description of input/output behavior in Chapter 6. In Chap
ter 7, we formally introduce feedback systems by demonstrating how state space
control laws can be designed. This is followed in Chapter 8 by material on output
Chapter numbers reflect those in the second edition
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