国际知名大学原版教材·信息技术学科与电气工程学科系列：线性控制系统工程（影印）
Preface
MODULE 1 INTRODUCTION TO FEEDBACK CONTROL
MODULE 2 TRANSFER FUNCTIONS AND BLOCK DIAGRAM ALGEBRA
Transfer Functions
Block Diagram Algebra
MODULE 3 FIRST-ORDER SYSTEMS
Impulse Response
Step Response
Ramp Response
Harmonic Response
First-Order Feedback Systems
Complex-Plane Representation： Poles and Zeros
Poles and Zeros of First-Order Systems
Dominant Poles
MODULE 4 SECOND-ORDER SYSTEMS
Second-Order Electrical System
Step Response
MODULE 5 SECOND-ORDER SYSTEM TIME-DOMAIN RESPONSE
Ramp Response
Harmonic Response
Relationship between System Poles and Transient Response
Time-Domain Performance Specifications
MODULE 6 SECOND-ORDER SYSTEMS： DISTURBANCE REJECTION AND
RATE FEEDBACK
Open- and Closed-Loop Disturbance Rejection
Effect of Velocity Feedback
MODULE 7 HIGHER-ORDER SYSTEMS
Reduction to Lower-Order Systems
Third-Order Systems
Effect of a Closed-Loop Zero
Occurrence of Closed-Loop Zeros
MODULE 8 SYSTEM TYPE： STEADY-STATE ERRORS
Impulse Input
Step Input
Ramp Input
Acceleration Input
Non-Unity-Feedback Control Systems
MODULE 9 ROUTHS METHOD， ROOT LOCUS： MAGNITUDE AND PHASE
EQUATIONS
Rouths Stability Criterion
Root Locus Method： Magnitude and Phase Equations
MODULE 10 RULES FOR PLOTTING THE ROOT LOCUS
MODULE 11 SYSTEM DESIGN USING THE ROOT LOCUS
MultiLoop System
System Design in the Complex Plane
Performance Requirements as Complex-Plane Constraints
Steady-State Error
Desirable Areas of Complex Plane for "Good" Response
MODULE 12 FREQUENCY RESPONSE AND NYQUIST DIAGRAMS
Frequency Response
Nyquist Diagrams from Transfer Functions
MODULE 13 NYQUIST STABILITY CRITERION
Conformal Mapping： Cauchys Theorem
Application to Stability
Some Comments on Nyquist Stability
Alternative Approach to Nyquist Stability Criterion
MODULE 14 NYQUIST ANALYSIS AND RELATIVE STABILITY
Conditional Stability
Gain and Phase Margins
MODULE 15 BODE DIAGRAMS
Bode Diagrams of Simple Transfer Functions
Bode Diagrams of Compound Transfer Functions
Elemental Bode Diagrams
MODULE 16 BODE ANALYSIS， STABILITY， AND GAIN AND PHASE MARGINS
Conditional Stability
Gain and Phase Margins in the Bode Diagram
System Type and Steady-State Error from Bode Diagrams
Further Discussion of Gain and Phase Margins
MODULE 17 TIME RESPONSE FROM FREQUENCY RESPONSE
Bode Diagram from the Root Locus
Closed-Loop Time Response from Open-Loop Phase Margin
Time Response of Higher-Order Systems
MODULE 18 FREQUENCY-DOMAIN SPECIFICATIONS AND CLOSED-LOOP
FREQUENCY RESPONSE
Frequency-Domain Specifications
Closed-Loop Frequency Response from Nyquist Diagram
Closed-Loop Frequency Response from Bode Diagram
Gain for a Desired M from the Nyquist Diagram
Gain For a Desired M from the Nichols Chart
Non-Unity-Feedback Gain Systems
MODULE 19 PHASE LEAD COMPENSATION
Multiple-Design Constraints
Transfer Function of Phase Lead Element
Phase Lead Compensation Process
Comments on the Applicability and Results of Phase Lead
Compensation
MODULE 20 PHASE LAG AND LEAD-LAG COMPENSATION
Transfer Function of Phase Lag Element
Phase Lag Compensation Process
Comments on Phase Lag Compensation
Lead-Lag Compensation
Transfer Function of a Lead-Lag Element
Lead-Lag Compensation Process
MODULE 21 MULTIMODE CONTROLLERS
Proportional Control
Proportional-Plus-Integral Control
Propor tional-Plus- Derivative Control
Proportional-Plus-Integral-Plus-Derivative Control
MODULE 22 STATE-SPACE SYSTEM DESCRIPTIONS
State-Space Form Equations from Transfer Functions
Transfer Function from State-Space Form
Transformation of State Variable and Invariability of
System Eigenvectors
Canonical Forms and Decoupled Systems
Relationship between Eigenvalues and System Poles
MODULE 23 STATE-SPACE SYSTEM RESPONSE， CONTROLLABILITY，
AND OBSERVABILITY
Direct Numerical Solution of the State Equation
Solution Using State Transition Matrix
Solution Using Laplace Transforms
System Stability
Controllability and Observability
MODULE 24 STATE-SPACE CONTROLLER DESIGN
Direct Calculation of Gains by Comparison with
Characteristic Equation
Pole Placement via Control Canonical Form of State
Equations
Pole Placement via Ackermanns Formula
MODULE 25 STATE-SPACE OBSERVER DESIGN
Observer Synthesis
Compensator Design
CONTROL SYSTEM DESIGN： CASE STUDIES
MODULE 26 WAVE ENERGY ABSORBTION DEVICE
Open loop frequency response， bandwidth， selection
of feedback gains， closed loop frequency response，
Nichols charts
MODULE 27 MISSILE ATTITUDE CONTROLLER
Model construction， block diagram representation，
multimode controller design， root locus， state-space
analysis and controller design， pole placement
MODULE 28 ROBOTIC HAND DESIGN
Multi-loop feedback systems， steady state values
of force and position， control system synthesis，
adaptive control
MODULE 29 PUMPED STORAGE FLOW CONTROL SYSTEM
Hydraulic system modeling， characteristic equation，
P + I controller， state-space analysis， controllability，
Ackermanns method
MODULE 30 SHIP STEERING CONTROL SYSTEM
Modeling， root locus， stabilization of unstable systems，
performance constraints， iterative root locus， rate feedback
MODULE 31 CRUISE MISSILE ALTITUDE CONTROL SYSTEM
Design in frequency domain， signal and noise， design
constraint boundaries， open loop design from closed
loop requirements， lead-lag controller
MODULE 32 MACHINE TOOL POWER DRIVE SYSTEM WITH FLEXIBILITY
System modeling， P + D control， poor performance， state
space model， pole placement， comparison of performance
APPENDIX 1 REVIEW OF LAPLACE TRANSFORMS AND THEIR USE
IN SOLVING DIFFERENTIAL EQUATIONS
Linear Properties
Shifting Theorem
Time Differentials
Final-Value Theorem
Inverse Transforms
Solving Linear Differential Equations
Index
MODULE 1 INTRODUCTION TO FEEDBACK CONTROL
MODULE 2 TRANSFER FUNCTIONS AND BLOCK DIAGRAM ALGEBRA
Transfer Functions
Block Diagram Algebra
MODULE 3 FIRST-ORDER SYSTEMS
Impulse Response
Step Response
Ramp Response
Harmonic Response
First-Order Feedback Systems
Complex-Plane Representation： Poles and Zeros
Poles and Zeros of First-Order Systems
Dominant Poles
MODULE 4 SECOND-ORDER SYSTEMS
Second-Order Electrical System
Step Response
MODULE 5 SECOND-ORDER SYSTEM TIME-DOMAIN RESPONSE
Ramp Response
Harmonic Response
Relationship between System Poles and Transient Response
Time-Domain Performance Specifications
MODULE 6 SECOND-ORDER SYSTEMS： DISTURBANCE REJECTION AND
RATE FEEDBACK
Open- and Closed-Loop Disturbance Rejection
Effect of Velocity Feedback
MODULE 7 HIGHER-ORDER SYSTEMS
Reduction to Lower-Order Systems
Third-Order Systems
Effect of a Closed-Loop Zero
Occurrence of Closed-Loop Zeros
MODULE 8 SYSTEM TYPE： STEADY-STATE ERRORS
Impulse Input
Step Input
Ramp Input
Acceleration Input
Non-Unity-Feedback Control Systems
MODULE 9 ROUTHS METHOD， ROOT LOCUS： MAGNITUDE AND PHASE
EQUATIONS
Rouths Stability Criterion
Root Locus Method： Magnitude and Phase Equations
MODULE 10 RULES FOR PLOTTING THE ROOT LOCUS
MODULE 11 SYSTEM DESIGN USING THE ROOT LOCUS
MultiLoop System
System Design in the Complex Plane
Performance Requirements as Complex-Plane Constraints
Steady-State Error
Desirable Areas of Complex Plane for "Good" Response
MODULE 12 FREQUENCY RESPONSE AND NYQUIST DIAGRAMS
Frequency Response
Nyquist Diagrams from Transfer Functions
MODULE 13 NYQUIST STABILITY CRITERION
Conformal Mapping： Cauchys Theorem
Application to Stability
Some Comments on Nyquist Stability
Alternative Approach to Nyquist Stability Criterion
MODULE 14 NYQUIST ANALYSIS AND RELATIVE STABILITY
Conditional Stability
Gain and Phase Margins
MODULE 15 BODE DIAGRAMS
Bode Diagrams of Simple Transfer Functions
Bode Diagrams of Compound Transfer Functions
Elemental Bode Diagrams
MODULE 16 BODE ANALYSIS， STABILITY， AND GAIN AND PHASE MARGINS
Conditional Stability
Gain and Phase Margins in the Bode Diagram
System Type and Steady-State Error from Bode Diagrams
Further Discussion of Gain and Phase Margins
MODULE 17 TIME RESPONSE FROM FREQUENCY RESPONSE
Bode Diagram from the Root Locus
Closed-Loop Time Response from Open-Loop Phase Margin
Time Response of Higher-Order Systems
MODULE 18 FREQUENCY-DOMAIN SPECIFICATIONS AND CLOSED-LOOP
FREQUENCY RESPONSE
Frequency-Domain Specifications
Closed-Loop Frequency Response from Nyquist Diagram
Closed-Loop Frequency Response from Bode Diagram
Gain for a Desired M from the Nyquist Diagram
Gain For a Desired M from the Nichols Chart
Non-Unity-Feedback Gain Systems
MODULE 19 PHASE LEAD COMPENSATION
Multiple-Design Constraints
Transfer Function of Phase Lead Element
Phase Lead Compensation Process
Comments on the Applicability and Results of Phase Lead
Compensation
MODULE 20 PHASE LAG AND LEAD-LAG COMPENSATION
Transfer Function of Phase Lag Element
Phase Lag Compensation Process
Comments on Phase Lag Compensation
Lead-Lag Compensation
Transfer Function of a Lead-Lag Element
Lead-Lag Compensation Process
MODULE 21 MULTIMODE CONTROLLERS
Proportional Control
Proportional-Plus-Integral Control
Propor tional-Plus- Derivative Control
Proportional-Plus-Integral-Plus-Derivative Control
MODULE 22 STATE-SPACE SYSTEM DESCRIPTIONS
State-Space Form Equations from Transfer Functions
Transfer Function from State-Space Form
Transformation of State Variable and Invariability of
System Eigenvectors
Canonical Forms and Decoupled Systems
Relationship between Eigenvalues and System Poles
MODULE 23 STATE-SPACE SYSTEM RESPONSE， CONTROLLABILITY，
AND OBSERVABILITY
Direct Numerical Solution of the State Equation
Solution Using State Transition Matrix
Solution Using Laplace Transforms
System Stability
Controllability and Observability
MODULE 24 STATE-SPACE CONTROLLER DESIGN
Direct Calculation of Gains by Comparison with
Characteristic Equation
Pole Placement via Control Canonical Form of State
Equations
Pole Placement via Ackermanns Formula
MODULE 25 STATE-SPACE OBSERVER DESIGN
Observer Synthesis
Compensator Design
CONTROL SYSTEM DESIGN： CASE STUDIES
MODULE 26 WAVE ENERGY ABSORBTION DEVICE
Open loop frequency response， bandwidth， selection
of feedback gains， closed loop frequency response，
Nichols charts
MODULE 27 MISSILE ATTITUDE CONTROLLER
Model construction， block diagram representation，
multimode controller design， root locus， state-space
analysis and controller design， pole placement
MODULE 28 ROBOTIC HAND DESIGN
Multi-loop feedback systems， steady state values
of force and position， control system synthesis，
adaptive control
MODULE 29 PUMPED STORAGE FLOW CONTROL SYSTEM
Hydraulic system modeling， characteristic equation，
P + I controller， state-space analysis， controllability，
Ackermanns method
MODULE 30 SHIP STEERING CONTROL SYSTEM
Modeling， root locus， stabilization of unstable systems，
performance constraints， iterative root locus， rate feedback
MODULE 31 CRUISE MISSILE ALTITUDE CONTROL SYSTEM
Design in frequency domain， signal and noise， design
constraint boundaries， open loop design from closed
loop requirements， lead-lag controller
MODULE 32 MACHINE TOOL POWER DRIVE SYSTEM WITH FLEXIBILITY
System modeling， P + D control， poor performance， state
space model， pole placement， comparison of performance
APPENDIX 1 REVIEW OF LAPLACE TRANSFORMS AND THEIR USE
IN SOLVING DIFFERENTIAL EQUATIONS
Linear Properties
Shifting Theorem
Time Differentials
Final-Value Theorem
Inverse Transforms
Solving Linear Differential Equations
Index
M0RRIS DRIELS， received his B.S. in Mechanical Engineering from the University of Surrey， and Ph.D. from City University， London. After working in the aerospace industry for some time， he became a Lecturer at Edinburgh University，
Scotland. Moving to the United States in 1982， he held positions at the University of Rhode Island and Texas A&M. He is currently Professor in the Mechanical Engineering Department at the Naval PostgraduateSchool in Monterey，California. Dr. Driels is a Member ofASME， IEEE and a Fellow of The Institution of Mechanical Engineers.
Scotland. Moving to the United States in 1982， he held positions at the University of Rhode Island and Texas A&M. He is currently Professor in the Mechanical Engineering Department at the Naval PostgraduateSchool in Monterey，California. Dr. Driels is a Member ofASME， IEEE and a Fellow of The Institution of Mechanical Engineers.
《线性控制系统工程》的定位是要为机械工程、电机工程、电子工程、计算机工程等非控制工程专业的本科生提供一本内容适度、实用性强和学时较少的控制理论教材。内容覆盖了经典控制理论和现代控制理论的基础部分，方法包括了频率响应法、根轨迹法和状态空间法。《线性控制系统工程》已被美国多所知名大学采用作为电子工程等专业的本科层次的控制理论教材或主要教学参考书。
《线性控制系统工程》的主要特点是，从非控制工程专业本科生对控制理论的需求和教学学时相对要少的实情出发，在体系结构和内容安排上作了富有新意的改革。例如，破除章节式结构，在体系结构和内容安排上作了富有新意的改革。例如，破除章节式结构、设立专题；破除按一个结论引入例子的惯例，增加来自不同专业背景的研究案例。
《线性控制系统工程》的主要特点是，从非控制工程专业本科生对控制理论的需求和教学学时相对要少的实情出发，在体系结构和内容安排上作了富有新意的改革。例如，破除章节式结构，在体系结构和内容安排上作了富有新意的改革。例如，破除章节式结构、设立专题；破除按一个结论引入例子的惯例，增加来自不同专业背景的研究案例。
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