非线性控制系统的分析与设计
1970-1
科学出版社
本社 主编
545
The purpose of this book is to present a comprehensive introduction to the theoryand design technique of nonlinear control systems. It may serve as a standard refer-ence of nonlinear control theory and applications for control scientists and controlengineers as well as Ph.D students majoring in Automation or some related fieldssuch as Operational Research， Management， Communication etc. In the book we emphasize on the geometric approach to nonlinear control systems. In fact， we intend to put nonlinear control theory and its design techniquesinto a geometric framework as much as we can. The main motivation to write thisbook is to bring readers with basic engineering background promptly to the frontier of the modem geometric approach on the dynamic systems， particularly on theanalysis and control design of nonlinear systems. We have made a considerable effort on the following aspects： First of all， we try to visualize the concepts. Certain concepts are defined overlocal coordinates， but in a coordinate free style. The purpose for this is to makethem easily understandable， particularly at the first reading. Through this way areader can understand a concept by just considering the case in n. Later on， whenthe material has been digested， it is easy to lift them to general topological spacesor manifolds. Secondly， we emphasize the numerical or computational aspect. We believe thatmaking things computable is very useful not only for solving engineering problemsbut also for understanding the concepts and methods. Thirdly， certain proofs have been simplified and some elementary proofs are pre-sented to make the materials more readable for engineers or readers not specializingin mathematics. Finally， the topics which can be found easily in some other standardtextbooks or references are briefly introduced and the corresponding references areincluded. Much attention has been put on new topics， new results， and new designtechniques. For convenience， a brief survey on linear control theory is included， which canbe skipped for readers who are already familiar with the subject. For those whoare not majoring in control theory， it provides a tutorial introduction to the field，which is sufficient for the further study of this book. The other mathematical pre-requirements are Calculus， Linear Algebra， Ordinal Differential Equation.
本书全面介绍了非线性控制系统的分析与设计。全书共分为两部分。其中第一部分为第1～4章。第1章介绍了拓扑空间，第2章介绍了微流形，第3章介绍了代数、Lie群和Lie代数，它们为本书提供了研究数学背景。第二部分包括12章，即第5～16章，这些章节涵盖了可控性、可观测性、稳定性、解耦、投入产出的实现、线性化、中心流技术、输出调节、耗散系统、H∞控制、切换系统和非平稳控制等方面，并给出了有关的详细设计技术。 本书可供理工科大学自动控制专业的教师及研究生阅读，也可供自然科学和工程技术领域中相关专业的研究人员参考。
Dr. Daizhan Cheng， a professor at Institute of Systems Science， Chinese Academy of Sciences， has been working on the control of nonlinear systems for over 30 years and is currently a Fellow of IEEE and a Fellow of IFAC， he is also the chairman of Technical Committee on Control Theory， Chinese Association of Automation.
1. Introduction 1.1 Linear Control Systems 1.1.1 Controllability, Observability 1.1.2 Invariant Subspaces 1.1.3 Zeros, Poles, Observers 1.1.4 Normal Form and Zero Dynamics 1.2 Nonlinearity vs Linearity 1.2.1 Localization 1.2.2 Singularity 1.2.3 Complex Behaviors 1.3 Some Examples of Nonlinear Control Systems References2. Topological Space 2.1 Metric Space 2.2 Topological Spaces 2.3 Continuous Mapping 2.4 Quotient Spaces References3. Differentiab!e Manifold 3.1 Structure of Manifolds 3.2 Fiber Bundle 3.3 Vector Field 3.4 One Parameter Group 3.5 Lie Algebra of Vector Fields 3.6 Co-tangent Space 3.7 Lie Derivatives 3.8 Frobenius' Theory 3.9 Lie Series, Chow's Theorem 3.10 Tensor Field 3.11 Riemannian Geometry 3.12 Symplectic Geometry References4. Algebra, Lie Group and Lie Algebra 4.1 Group 4.2 Ring and Algebra 4.3 Homotopy 4.4 Fundamental Group 4.5 Covering Space 4.6 Lie Group 4.7 Lie Algebra of Lie Group 4.8 Structure of Lie Algebra References5. Controllability and Observability 5.1 Controllability of Nonlinear Systems 5.2 Observability of Nonlinear Systems 5.3 Kalman Decomposition References6. Global Controllability of Affine Control Systems 6.1 From Linear to Nonlinear Systems 6.2 A Sufficient Condition 6.3 Multi-hierarchy Case 6.4 Codim = 1 References7. Stability and Stabilization 7.1 Stability of Dynamic Systems 7.2 Stability in the Linear Approximation 7.3 The Direct Method of Lyapunov 7.3.1 Positive Definite Functions 7.3.2 Critical Stability 7.3.3 Instability 7.3.4 Asymptotic Stability 7.3.5 Total Stability 7.3.6 Global Stability 7.4 LaSalle's Invariance Principle 7.5 Converse Theorems to Lyapunov's Stability Theorems 7.5.1 Converse Theorems to Local Asymptotic Stability 7.5.2 Converse Theorem to Global Asymptotic Stability 7.6 Stability of Invariant Set 7.7 Input-Output Stability 7.7.1 Stability of Input-Output Mapping 7.7.2 The Lur'e Problem 7.7.3 Control Lyapunov Function 7.8 Region of Attraction References8. Deeoupling 8.1 (f,g)-invariant Distribution 8.2 Local Disturbance Decoupling 8.3 Controlled Invariant Distribution 8.4 Block Decomposition 8.5 Feedback Decomposition References9. Input-Output Structure 9.1 Decoupling Matrix 9.2 Morgan's Problem 9.3 Invertibility 9.4 Decoupling via Dynamic Feedback 9.5 Normal Form of Nonlinear Control Systems 9.6 Generalized Normal Form 9.7 Fliess Functional Expansion 9.8 Tracking via Fliess Functional Expansion References10. Linearization of Nonlinear Systems 10.1 Poincare Linearization 10.2 Linear Equivalence of Nonlinear Systems 10.3 State Feedback Linearization 10.4 Linearization with Outputs 10.5 Global Linearization 10.6 Non-regular Feedback Linearization References11 Design of Center Manifold 11.1 Center Manifold 11.2 Stabilization of Minimum Phase Systems 11.3 Lyapunov Function with Homogeneous Derivative 11.4 Stabilization of Systems with Zero Center 11.5 Stabilization of Systems with Oscillatory Center 11.6 Stabilization Using Generalized Normal Form 11.7 Advanced Design Techniques References12 Output Regulation 12.1 Output Regulation of Linear Systems 12.2 Nonlinear Local Output Regulation 12.3 Robust Local Output Regulation References13 Dissipative Systems 13.1 Dissipative Systems 13.2 Passivity Conditions 13.3 Passivity-based Control 13.4 Lagrange Systems 13.5 Hamiltonian Systems References14 L2-Gain Synthesis 14.1 H∞ Norm and//2-Gain 14.2 H∞ Feedback Control Problem 14.3 L2-Gain Feedback Synthesis 14.4 Constructive Design Method 14.5 Applications References15 Switched Systems 15.1 Common Quadratic Lyapunov Function 15.2 Quadratic Stabilization of Planar Switched Systems 15.3 Controllability of Switched Linear Systems 15.4 Controllability of Switched Bilinear Systems 15.5 LaSalle's Invariance Principle for Switched Systems 15.6 Consensus of Multi-Agent Systems 15.6.1 Two Dimensional Agent Model with a Leader 15.6.2 n Dimensional Agent Model without Lead References16 Discontinuous Dynamical Systems 16.1 Introduction 16.2 Filippov Framework 16.2.1 Filippov Solution 16.2.2 Lyapunov Stability Criteria 16.3 Feedback Stabilization 16.3.1 Feedback Controller Design: Nominal Case 16.3.2 Robust Stabilization 16.4 Design Example of Mechanical Systems 16.4.1 PD Controlled Mechanical Systems 16.4.2 Stationary Set 16.4.3 Application Example ReferencesAppendix A Some Useful Theorems A.1 Sard's Theorem A.2 Rank Theorem ReferencesAppendix B Semi-Tensor Product of Matrices B.1 A Generalized Matrix Product B.2 Swap Matrix B.3 Some Properties of Semi-Tensor Product B.4 Matrix Form of Polynomials ReferencesIndex
Analysis and Design of Nonlinear Control Systems provides a comprehensive and up to date introduction to nonlinear control systems， including system analysis and major control design techniques. The book is self-contained， providing sufficient mathematical foundations for understanding the contents of each chapter. Scientists and engineers engaged in the field of Nonlinear Control Systems will find it an extremely useful handy reference book.
这是一个学习数学的、或数学功底深厚人在从事控制理论的研究，作者是大家。只有工程背景的人看不懂的，最好是学习数学、或力学的人阅读，很是受益，反映了现代控制理论的最新成果。
讲的很平实
含满意 ，书很新，不错的购物
还好，就是送货时包装不是很干净！