[按需印刷]应用非线性控制（英文版）（美）Jean-Jacques E…|21888 下载 mobi epub pdf 电子书 2024

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发表于2024-11-28

图书介绍

店铺：互动出版网图书专营店

出版社：机械工业出版社

ISBN：7111152182

商品编码：25200617480

丛书名：经典原版书库

出版时间：2004-10-01

页数：461

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书名：	应用非线性控制（英文版）[按需印刷]\|21888
图书定价：	100元
图书作者：	（美）Jean-Jacques E.Soltine,Weiping Li
出版社：	机械工业出版社
出版日期：	2004-10-01 0:00:00
ISBN号：	7111152182
开本：	16开
页数：	461
版次：	1-1

作者简介

Jean-Jacques E．Slotine于麻省理工学院获得博士学位。现任麻省理工学院机械工程系及信息科学系教授，非线性系统实验室主任。他的主要研究方向包括机器人学、非线性控制、学习系统等。

内容简介

本书详细探讨了现代非线性系统的分析与设计技术，并提供了分析非线性系统的工具。主要内容包括相平面分析、描述函数分析、反馈线性化、滑动控制以及自适应控制等。另外，还提供了大量例题与习题，便于教学。本书结构安排合理，实践性强，适合作为高等院校理工科专业的教材，同时对非线性控制初学者以及相关工程技术人员来说也是一本很好的参考书。

Preface iii
1. Introduction
1.1 Why Nonlinear Control ? 1
1.2 Nonlinear System Behavior 4
1.3 An Overview of the Book 12
1.4 Notes and References 13
Part I: Nonlinear Systems Analysis 14
Introduction to Part I 14
2. Phase Plane Analysis 17
2.1 Concepts of Phase Plane Analysis 18
2.1.1 Phase Portraits 18
2.1.2 Singular Points 20
2.1.3 Symmetry in Phase Plane Portraits 22
2.2 Constructing Phase Portraits 23
2.3 Determining Time from Phase Portraits 29
2.4 Phase Plane Analysis of Linear Systems 30
2.5 Phase Plane Analysis of Nonlinear Systems 32
2.6 Existence of Limit Cycles 36
2.7 Summary 38
2.8 Notes and References 38
2.9 Exercises 38
3. Fundamentals of Lyapunov Theory 40
3.1 Nonlinear Systems and Equilibrium Points 41
3.2 Concepts of Stability 47
3.3 Linearization and Local Stability 53
3.4 Lyapunov's Direct Method 57
3.4.1 Positive Definite Functions and Lyapunov Functions 58
3.4.2 Equilibrium Point Theorems 61
3.4.3 lnvariant Set Theorems 68
3.5 System Analysis Based on Lyapunov's Direct Method 76
3.5.1 L yapunov Analysis of Linear Time-lnvariant Systems 77
3.5.2 Krasovskii' s Method 83
3.5.3 The Variable Gradient Method 86
3.5.4 Physically Motivated Lyapunov Functions 88
3.5.5 Performance Analysis 91
3.6 Control Design Based on Lyapunov's Direct Method 94
3.7 Summary 95
3.8 Notes and References 96
3.9 Exercises 97
4. Advanced Stability Theory 100
4.1 Concepts of Stability for Non-Autonomous Systems I01
4.2 Lyapunov Analysis of Non-Autonomous Systems 105
4.2.1 Lyapunov' s Direct Method for Non-Autonomous Systems 105
4.2.2 Lyapunov Analysis of Linear Time-Varying Systems 114
4.2.3 * The Linearization Method for Non-Autonomous Systems 116
4.3 * Instability Theorems 117
4.4 * Existence of Lyapunov Functions 120
4.5 Lyapunov-Like Analysis Using Barbalat's Lemma 122
4.5.1 Asymptotic Properties of Functions and Their Derivatives 122
4.5.2 Barbalat' s Lemma 123
4.6 Positive Linear Systems 126
4.6.1 PR and SPR Transfer Functions 126
4.6.2 The Kalman-Yakubovich Lemma 130
4.6.3 Positive Real Transfer Matrices 131
4.7 The Passivity Formalism 132
4.7.1 Block Combinations 132
4.7.2 Passivity in Linear Systems 137
4.8 * Absolute Stability 142
4.9 * Establishing Boundedness of Signals 147
4.10 * Existence and Unicity of Solutions 151
4.11 Summary 153
4.12 Notes and References 153
4.13 Exercises 154
5. Describing Function Analysis 157
5.1 Describing Function Fundamentals 158
5.1.1 An Example of Describing Function Analysis 158
5.1.2 Applications Domain 162
5.1.3 Basic Assumptions 164
5.1.4 Basic Definitions 165
5.1.5 Computing Describing Functions 167
5.2 Common Nonlinearities In Control Systems 169
5.3 Describing Functions of Common Nonlinearities 172
5.4 Describing Function Analysis of Nonlinear Systems 179
5.4.1 The Nyquist Criterion and Its Extension 180
5.4.2 Existence of Limit Cycles 182
5.4.3 Stability of Limit Cycles 184
5.4.4 Reliability of Describing Function Analysis 186
5.5 Summary 187
5.6 Notes and References 188
5.7 Exercises 188
Part II: Nonlinear Control Systems Design 191
Introduction to Part H 191
6. Feedback Linearization 207
6.1 Intuitive Concepts 208
6.1.1 Feedback Linearization And The Canonical Form 208
6.1.2 Input-State Linearization 213
6.1.3 Input-Output Linearization 216
6.2 Mathematical Tools 229
6.3 Input-State Linearization of SISO Systems 236
6.4 Input-Output Linearization of SISO Systems 246
6.5 * Multi-Input Systems 266
6.6 Summary 270
6.7 Notes and References 271
6.8 Exercises 271
7. Sliding Control 276
7.1 Sliding Surfaces 277
7.1.1 A Notational Simplification 278
7.1.2 * Filippov's Construction of the Equivalent Dynamics 283
7.1.3 Perfect Performance - At a Price 285
7.1.4 Direct Implementations of Switching Control Laws 289
7.2 Continuous Approximations of Switching Control Laws 290
7.3 The Modeling/Performance Trade-Offs 301
7.4 * Multi-Input Systems 303
7.5 Summary 306
7.6 Notes and References 307
7.7 Exercises 307
8. Adaptive Control 311
8.1 Basic Concepts in Adaptive Control 312
8.1.1 Why Adaptive Control ? 312
8.1.2 What Is Adaptive Control ? 315
8.1.3 How To Design Adaptive Controllers ? 323
8.2 Adaptive Control of First-Order Systems 326
8.3 Adaptive Control of Linear Systems With Full State Feedback 335
8.4 Adaptive Control of Linear Systems With Output Feedback 339
8.4.1 Linear Systems With Relative Degree One 340
8.4.2 Linear Systems With Higher Relative Degree 346
8.5 Adaptive Control of Nonlinear Systems 350
8.6 Robustness of Adaptive Control Systems 353
8.7 * On-Line Parameter Estimation 358
8.7.1 Linear Pararnetrization Model 359
8.7.2 Prediction-Error-Based Estimation Methods 364
8.7.3 The Gradient Estimator 364
8.7.4 The Standard Least-Squares Estimator 370
8.7.5 Least-Squares With Exponential Forgetting 374
8.7.6 Bounded-Gain Forgetting 376
8.7.7 Concluding Remarks and Implementation Issues 381
8.8 Composite Adaptation 382
8.9 Summary 388
8.10 Notes and References 389
8.11 Exercises 389
9. Control of Multi-Input Physical Systems 392
9.1 Robotics as a Prototype 393
9.1.1 Position Control 394
9.1.2 Traje [按需印刷]应用非线性控制（英文版）（美）Jean-Jacques E…|21888 下载 mobi epub pdf txt 电子书格式