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1、CONTROLSYSTEMDESIGNGrahamC.Goodwin1StefanF.Graebe2MarioE.Salgado3Valpara′?so,January20001CentreforIntegratedDynamicsandControlUniversityofNewcastle,NSW2308AUSTRALIA2OMVAktiengesellschaftDepartmentofOptimization/AutomationSchwechat,AUSTRIA3DepartamentodeElectr′onicaUniversidad
2、T′ecnicaFedericoSantaMar′?aValpara′?so,CHILEDedicated,inthankfulappreciationforsupportandunderstanding,toRosslynAliceMariv′?CONTENTSOVERVIEWITHEELEMENTS11TheExcitementofControlEngineering52IntroductiontothePrinciplesofFeedback213Modeling414ContinuousTimeSignalsandSystems65IIS
3、ISOCONTROLESSENTIALS1175AnalysisofSISOControlLoops1216ClassicalPIDControl1577SynthesisofSISOControllers177IIISISOCONTROLDESIGN1958FundamentalLimitationsinSISOControl1999FrequencyDomainDesignLimitations23910ArchitecturalIssuesinSISOControl26311DealingwithConstraints291IVDIGITA
4、LCOMPUTERCONTROL31312ModelsforSampledDataSystems31713DigitalControl35114HybridControl385VADVANCEDSISOCONTROL40115SISOcontrollerParameterizations40516ControlDesignBasedonOptimization45517LinearStateSpaceModels48318SynthesisviaStateSpaceMethods51519IntroductiontoNonlinearContro
5、l547VIMIMOCONTROLESSENTIALS58320AnalysisofMIMOControlLoops58721ExploitingSISOTechniquesinMIMOControl627VIIMIMOCONTROLDESIGN64922DesignviaOptimalControlTechniques65323ModelPredictiveControl71524FundamentalLimitationsinMIMOControl743VIIIADVANCEDMIMOCONTROL77925MIMOControllerPar
6、ameterizations78326Decoupling823viiCONTENTSCONTENTSOVERVIEWviiACKNOWLEDGEMENTSxxiPREFACExxiiiAPPENDICESxxixITHEELEMENTS1PREVIEW31THEEXCITEMENTOFCONTROLENGINEERING51.1Preview51.2MotivationforControlEngineering51.3HistoricalPeriodsofControlTheory91.4TypesofControlSystemDesign10
7、1.5SystemIntegration111.6Summary181.7FurtherReading192INTRODUCTIONTOTHEPRINCIPLESOFFEEDBACK212.1Preview212.2ThePrincipalGoalofControl212.3AMotivatingIndustrialExample222.4De?nitionoftheProblem272.5PrototypeSolutiontotheControlProblemviaInversion29ixxContentsOverview2.6HighGai
8、nFeedbackandInversion322.7FromOpentoClosedLoopArchitectures342.8Trad
