动态系统反馈控制：第7版精华解析

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"Feedback Control of Dynamic Systems" 是一本经典的控制理论教材，由Gene F. Franklin、J. David Powell和Abbas Emami-Naeini合著，已更新至第七版。这本书深入浅出地介绍了动态系统的反馈控制系统，适用于高等教育和专业研究。在控制类书籍中，"Feedback Control of Dynamic Systems" 长期被视为必读文献，它涵盖了反馈控制的基础概念、理论和应用。书中的内容可能包括以下几个方面： 1. **控制理论基础**：介绍控制系统的定义、分类和基本组成部分，如控制器、被控对象和传感器。同时，会讲解传递函数、状态空间模型等描述系统动态行为的数学工具。 2. **稳定性分析**：探讨系统稳定性的条件，如劳斯判据、赫尔维茨稳定性定理，以及如何通过控制器设计确保系统的稳定性。 3. **控制器设计**：涵盖比例积分微分（PID）控制器、线性二次型最优控制（LQR）、状态反馈和输出反馈控制器等设计方法。这些方法用于优化系统的性能指标，如稳态误差、上升时间、超调量等。 4. **现代控制理论**：可能涉及李雅普诺夫稳定性理论、卡尔曼滤波、自适应控制、滑模控制等进阶主题，这些都是解决非线性、时变或不确定性问题的重要工具。 5. **系统辨识**：讲解如何从实测数据中识别系统的动态模型，这对于实际工程应用中的系统建模至关重要。 6. **案例研究与应用**：书中可能包含多个实际系统控制问题的案例，如机械、航空航天、电力系统、化学过程等，以帮助读者理解理论在实际问题中的应用。 7. **计算机辅助设计**：介绍使用MATLAB、SIMULINK等工具进行控制系统的设计和仿真，提升学习的实践性和直观性。 8. **实验与项目**：可能提供实验指导和项目建议，使学生有机会亲手操作和设计控制系统，增强动手能力和问题解决能力。这本教材适合对控制工程感兴趣的本科生、研究生，以及从事相关工作的工程师。通过学习，读者不仅可以掌握基础的控制理论，还能了解到最新的控制技术发展，提升解决实际问题的能力。

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Preface xv

•

Added the model-following procedure to Chapter 7

•

Several sections were rewritten in Chapter 8 for clarity

•

Added section on the ZOH approximate method in Chapter 8

•

Updated the engine control exampleand substantially revisedthe system

biology case study in Chapter 10

•

Approximately 20% of the problems in the book are revised or new in

all chapters

Addressing the Educational Challenges

Some of the educational challenges facing students of feedback control are

long-standing; others have emerged in recent years. Some of the challenges

remain for students across their entire engineering education; others are

unique to this relatively sophisticated course. Whether they are old or new,

general or particular, the educational challenges we perceived were critical

to the evolution of this text. Here we will state several educational challenges

and describe our approaches to each of them.

•

CHALLENGE Students must master design as well as analysis

techniques.

Design is central to all of engineering and especially so to control

systems. Students ﬁnd that design issues, with their corresponding oppor-

tunities to tackle practical applications, are particularly motivating. But

students also ﬁnd design problems difﬁcult because design problem state-

ments are usually poorly posed and lack unique solutions. Because of both its

inherent importance and its motivational effect on students, design is empha-

sized throughout this text so that conﬁdence in solving design problems is

developed from the start.

The emphasis on design begins in Chapter 4 following the development

of modeling and dynamic response. The basic idea of feedback is introduced

ﬁrst, showing its inﬂuence on disturbance rejection, tracking accuracy, and

robustness to parameter changes. The design orientation continues with uni-

form treatments of the root locus, frequency response, and state variable

feedback techniques. All the treatments are aimed at providing the knowl-

edge necessary to ﬁnd a good feedback control design with no more complex

mathematical development than is essential to clear understanding.

Throughout the text, examples are used to compare and contrast the

design techniques afforded by the different design methods and, in the cap-

stone case studies of Chapter 10, complex real-world design problems are

attacked using all the methods in a uniﬁed way.

•

CHALLENGE New ideas continue to be introduced into control.

Control is an active ﬁeld of research and hence there is a steady inﬂux

of new concepts, ideas, and techniques. In time, some of these elements

develop to the point where they join the list of things every control engineer

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xvi Preface

must know. This text is devoted to supporting students equally in their need

to grasp both traditional and more modern topics.

In each of our editions we have tried to give equal importance to root

locus, frequency response, and state-variable methods for design. In this

edition we continue to emphasize solid mastery of the underlying tech-

niques, coupled with computer-based methods for detailed calculation. We

also provide an early introduction to data sampling and discrete controllers

in recognition of the major role played by digital controllers in our ﬁeld.

While this material can be skipped to save time without harm to the ﬂow of

the text, we feel that it is very important for students to understand that com-

puter control is widely used and that the most basic techniques of computer

control are easily mastered.

•

CHALLENGE Students need to manage a great deal of information.

The vast array of systems to which feedback control is applied and the

growing variety of techniques available for the solution of control prob-

lems means that today’s student of feedback control must learn many new

ideas. How do students keep their perspective as they plow through lengthy

and complex textual passages? How do they identify highlights and draw

appropriate conclusions? How do they review for exams? Helping students

with these tasks was a criterion for the Fourth, Fifth, and Sixth Editions and

continues to be addressed in this Seventh Edition. We outline these features

below.

FEATURE

1. Chapter openers offer perspective and overview. They place the speciﬁc

chapter topic in the context of the discipline as a whole and they brieﬂy

overview the chapter sections.

2. Margin notes help students scan for chapter highlights. They point to

important deﬁnitions, equations, and concepts.

3. Shaded highlights identify key concepts within the running text. They

also function to summarize important design procedures.

4. Bulleted chapter summaries help with student review and prioritization.

These summaries brieﬂy reiterate the key concepts and conclusions of

the chapter.

5. Synopsis of design aids. Relationships used in design and throughout

the book are collected inside the back cover for easy reference.

6. The color blue is used (1) to highlight useful pedagogical features, (2) to

highlight components under particular scrutiny within block diagrams,

(3) to distinguish curves on graphs, and (4) to lend a more realistic look

to ﬁgures of physical systems.

7. Review questions at the end of each chapter with solutions in the back

to guide the student in self-study

8. Historical perspectives at the end of each chapter provide some back-

ground and color on how or why the material in that particular chapter

evolved.

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Preface xvii

•

CHALLENGE Students of feedback control come from a wide range

of disciplines.

Feedback control is an interdisciplinary ﬁeld in that control is applied

to systems in every conceivable area of engineering. Consequently, some

schools have separate introductory courses for control within the standard

disciplines and some, like Stanford, have a single set of courses taken by

students from many disciplines. However, to restrict the examples to one

ﬁeld is to miss much of the range and power of feedback but to cover the

whole range of applications is overwhelming. In this book we develop the

interdisciplinary nature of the ﬁeld and provide review material for several of

the most common technologies so that students from many disciplines will

be comfortable with the presentation. For Electrical Engineering students

who typically have a good background in transform analysis, we include

in Chapter 2 an introduction to writing equations of motion for mechanical

mechanisms. For mechanical engineers, we include in Chapter3areview

of the Laplace transform and dynamic response as needed in control. In

addition, we introduce other technologies brieﬂy and, from time to time, we

present the equations of motion of a physical system without derivation but

with enough physical description to be understood from a response point

of view. Examples of some of the physical systems represented in the text

include the read–write head for a computer disk drive, a satellite tracking

system, the fuel–air ratio in an automobile engine, and an airplane automatic

pilot system.

Outline of the Book

The contents of the printed book are organized into ten chapters and three

appendices. Optional sections of advanced or enrichment material marked

with a triangle () are included at the end of some chapters. Examples

and problems based on this material are also marked with a triangle ().

There are also four full appendices on the website plus numerous appendices

that supplement the material in most of the chapters. The appendices in the

printed book include Laplace transform tables, answers to the end-of-chapter

review questions, and a list of Matlab commands. The appendices on the

website include a review of complex variables, a review of matrix theory,

some important results related to state-space design, and optional material

supporting or extending several of the chapters.

In Chapter 1, the essential ideas of feedback and some of the key design

issues are introduced. This chapter also contains a brief history of control,

from the ancient beginnings of process control to ﬂight control and elec-

tronic feedback ampliﬁers. It is hoped that this brief history will give a

context for the ﬁeld, introduce some of the key ﬁgures who contributed to its

development, and provide motivation to the student for the studies to come.

Chapter 2 is a short presentation of dynamic modeling and includes

mechanical, electrical, electromechanical, ﬂuid, and thermodynamic

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xviii Preface

devices. This material can be omitted, used as the basis of review home-

work to smooth out the usual nonuniform preparation of students, or covered

in-depth depending on the needs of the students.

Chapter 3 covers dynamic response as used in control. Again, much

of this material may have been covered previously, especially by electri-

cal engineering students. For many students, the correlation between pole

locations and transient response and the effects of extra zeros and poles on

dynamic response represent new material. Stability of dynamic systems is

also introduced in this chapter. This material needs to be covered carefully.

Chapter 4 presents the basic equations and transfer functions of feed-

back along with the deﬁnitions of the sensitivity function. With these tools,

open-loop and closed-loop control are compared with respect to disturbance

rejection, tracking accuracy, and sensitivity to model errors. Classiﬁcation

of systems according to their ability to track polynomial reference signals

or to reject polynomial disturbances is described with the concept of system

type. Finally, the classical proportional, integral, and derivative (PID) con-

trol structure is introduced and the inﬂuence of the controller parameters on a

system’s characteristic equation is explored along with PID tuning methods.

Following the overview of feedback in Chapter 4, the core of the book

presents the design methods based on root locus, frequency response, and

state-variable feedback in Chapters 5, 6, and 7, respectively.

Chapter 8 develops the tools needed to design feedback control for

implementation in a digital computer. However, for a complete treatment

of feedback control using digital computers, the reader is referred to the

companion text, Digital Control of Dynamic Systems, by Franklin, Powell,

and Workman; Ellis-Kagle Press, 1998.

In Chapter 9 the nonlinear material includes techniques for the lin-

earization of equations of motion, analysis of zero memory nonlinearity as a

variable gain, frequency response as a describing function, the phase plane,

Lyapunov stability theory, and the circle stability criterion.

In Chapter 10 the three primary approaches are integrated in several

case studies and a framework for design is described that includes a touch

of the real-world context of practical control design.

Course Conﬁgurations

The material in this text can be covered ﬂexibly. Most ﬁrst-course students

in controls will have some dynamics and Laplace transforms. Therefore,

Chapter 2 and most of Chapter 3 would be a review for those students.

In a ten-week quarter, it is possible to review Chapter 3, and cover all of

Chapters 1, 4, 5, and 6. Most optional sections should be omitted. In the

second quarter, Chapters 7 and 9 can be covered comfortably including

the optional sections. Alternatively, some optional sections could be omit-

ted and selected portions of Chapter 8 included. A semester course should

comfortably accommodate Chapters 1–7, including the review materials of

Chapters 2 and 3, if needed. If time remains after this core coverage, some

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Preface xix

introduction of digital control from Chapter 8, selected nonlinear issues from

Chapter 9, and some of the case studies from Chapter 10 may be added.

The entire book can also be used for a three-quarter sequence of courses

consisting of modeling and dynamic response (Chapters 2 and 3), classical

control (Chapters 4–6), and modern control (Chapters 7–10).

Two basic 10-week courses are offered at Stanford and are taken by

seniors and ﬁrst-year graduate students who have not had a course in con-

trol, mostly in the departments ofAeronautics andAstronautics, Mechanical

Engineering, and Electrical Engineering. The ﬁrst course reviews Chapters 2

and 3 and covers Chapters 4–6. The more advanced course is intended for

graduate students and reviews Chapters 4–6 and covers Chapters 7–10. This

sequence complements a graduate course in linear systems and is the prereq-

uisite to courses in digital control, nonlinear control, optimal control, ﬂight

control, and smart product design. Some of the subsequent courses include

extensive laboratory experiments. Prerequisites for the course sequence

include dynamics or circuit analysis and Laplace transforms.

Prerequisites to This Feedback Control Course

This book is for a ﬁrst course at the senior levelfor all engineering majors. For

the core topics in Chapters 4–7, prerequisite understanding of modeling and

dynamic response is necessary. Many students will come into the course with

sufﬁcient background in those concepts from previous courses in physics,

circuits, and dynamic response. For those needing review, Chapters 2 and 3

should ﬁll in the gaps.

An elementary understanding of matrix algebra is necessary to under-

stand the state-space material. While all students will have much of this

in prerequisite math courses, a review of the basic relations is given in

Appendix WB and a brief treatment of particular material needed in control

is given at the start of Chapter 7. The emphasis is on the relations between

linear dynamic systems and linear algebra.

Supplements

The website mentioned above includes the dot-m and dot-mdl ﬁles used

to generate all the Matlab ﬁgures in the book, and these may be copied

and distributed to the students as desired. The website also contains some

more advanced material and appendices which are outlined in the Table

of Contents. A Solutions Manual with complete solutions to all homework

problems is available to instructors only.

Acknowledgments

Finally, we wish to acknowledge our great debt to all those who have con-

tributed to the development of feedback control into the exciting ﬁeld it

is today and speciﬁcally to the considerable help and education we have

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动态系统反馈控制：第7版精华解析

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