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1、Zhong-PingJiangDepartmentofElectrical&ComputerEngineeringPolytechnicInstituteofNewYorkUniversityBrooklynNewYorkUSABrooklyn,NewYork,U.S.A.E-mail:zjiang@poly.eduFall2012@NYUPoly/Dr.Jiang1Z.P.Jiang.Noreproductionpermittedwithoutwrittenpermissionoftheauthor.?老子，公元前571-471企者不立，跨者不行。
2、Fall2012@NYUPoly/Dr.Jiang2RecommendedTextbooksFall2012@NYUPoly/Dr.Jiang3MoreadvancedbooksFall2012@NYUPoly/Dr.Jiang4Whatarethebiggestcontributionsof“Engineering”inthe20thcentury?Controlisallaroundus:?Air,land,seaandunderwatervehicles?Robots?CellphonesandtheInternet?CD-playerwash
3、erscookersplayer,washers,cookers?Artificialhearts?OilrefinerOilrefinery?etcFall2012@NYUPoly/Dr.Jiang5ApplicationsofControlTechnology?AerospaceEngineering:airplanes,helicopters,spaceshuttles…?AutomotiveEng.:engine&cruisecontrol,emissioncontrol…?Bio-engineering:artificiallimbs,ar
4、tificialhearts…?ChemicalEng.:pulpandpapermaking,oilindustry…?CivilEng.:controlofcivilbuildings,bridges…?ElectricalEng.:amplifiers,motors,communicationssystems?Mechanical&ManufacturingEng.:robots,assemblylines…?NuclearEng.:reactorcontrol?TransportationEng.:airtrafficcontrol,IVHS
5、,TGV…?CommercialSector:microwaveoven,auto-focusingcamera…?Militaryapplications:guidedmissiles,advancedfightervehiclesFall2012@NYUPoly/Dr.Jiang6Whatiscontrol?Useofalgorithmsandfeedbackinengineeredsystems?Trackingareferencesignal?Disturbancerejection?Copyingwithsystemuncerttitiai
6、ntiesNoiseDisturbanceNoiseInputuOutputy+ActuatorSystemSensor+D/AComputerA/DFall2012@NYUPoly/Dr.Jiang7Whatisanonlinearsystem?Whatisanonlinearsystem?Def.1:Anonlinearsystemisasystemthatisnotlinear.Def.2:Itisasystemthatisnotnecessarilylinear.Finite-dimensionalnonlinearsystems:xfxgx
7、u?=()+(),x??n,u??my=hx(),y??lFall2012@NYUPoly/Dr.Jiang8Whynonlinearcontrol??Theworldisnonlinear.?Manyphysicalsystemsarehighlynonlinearandbdaresubjjiecttosignifiificantuncertaiintiies.?Linearfeedbackcontrolisinsufficient.Fall2012@NYUPoly/Dr.Jiang9Example1:NonlinearShipControlFal
8、l2012@NYUPoly/Dr.Jiang10Fall2012@NYUPoly/Dr.Jiang11??A
