应用非线性控制（英文版）[图书]

    书籍
    数学书籍
本书详细探讨了现代非线性系统的分析与设计技术，并提供了分析非线性系统的工具。主要内容包括相平面分析、描述函数分析、反馈线性化、滑动控制以及自适应控制等。另外，还提供了大量例题与习题，便于教学。 本书结构安排合理，实践性强，适合作为高等院校理工科专业的教材，同时对非线性控制初学者以及相关工程技术人员来说也是一本很好的参考书。

Jean-Jacques E．Slotine于麻省理工学院获得博士学位。现任麻省理工学院机械工程系及信息科学系教授，非线性系统实验室主任。他的主要研究方向包括机器人学、非线性控制、学习系统等。

Preface iii
1. Introduction
1.1 Why Nonlinear Control ? 1
1.2 Nonlinear System Behavior 4
1.3 An Overview of the Book 12
1.4 Notes and References 13
Part I: Nonlinear Systems Analysis 14
Introduction to Part I 14
2. Phase Plane Analysis 17
2.1 Concepts of Phase Plane Analysis 18
2.1.1 Phase Portraits 18
2.1.2 Singular Points 20
2.1.3 Symmetry in Phase Plane Portraits 22
2.2 Constructing Phase Portraits 23
2.3 Determining Time from Phase Portraits 29
2.4 Phase Plane Analysis of Linear Systems 30
2.5 Phase Plane Analysis of Nonlinear Systems 32
2.6 Existence of Limit Cycles 36
2.7 Summary 38
2.8 Notes and References 38

　　 In recent years, the availability of powerful low-cost microprocessors has spurred great advances in the theory and applications of nonlinear control. In terms of theory, major strides have been made in the areas of feedback linearization, sliding control, and nonlinear adaptation techniques. In terms of applications, many practical nonlinear control systems have been developed, ranging from digital "fly-by-wire" flight control systems for aircraft, to "drive-by-wire" automobiles, to advanced robotic and space systems. As a result, the subject of nonlinear control is occupying an increasingly important place in automatic control engineering, and has become a necessary part of the fundamental background of control engineers.
　　This book, based on a course developed at Mrr, is intended as a textbook for senior and graduate students, and as a self-study book for practicing engineers. Its objective is to present the fundamental results of modem nonlinear control while keeping the mathematical complexity to a minimum, and to demonstrate their use and implications in the design of practical nonlinear control systems. Although a major motivation of this book is to detail the many recent developments in nonlinear control, classical techniques such as phase plane analysis and the describing function method are also treated, because of their continued practical importance.
　　 In order to achieve our fundamental objective, we have tried to bring the following features to this book:
　　 ~ Readability: Particular attention is paid to the readability of the book by
　　carefully organizing the concepts, intuitively interpreting the major results, and selectively using the mathematical tools. The readers are only assumed to have had one introductory control course. No mathematical background beyond ordinary differential equations and elementary matrix algebra is required. For each new result, interpretation is emphasized rather than mathematics. For each major result, we try to ask and answer the following key questions: What does the result intuitively and physically mean? How can it be applied to practical problems? What is its relationship to other theorems? All major concepts and results are demonstrated by examples. We believe that learning and generalization from examples are crucialfor proficiency in applying any theoretical result.
　　~ Practicality: The choice 'and emphasis of materials is guided by the basic objective of making an engineer or student capable of dealing with practical control problems in industry. Some results of mostly theoretical interest are not included. The selected materials, in one way or another, are intended to allow readers to gain insights into the solution of real problems.
　　~ Comprehensiveness: The book contains both classical materials, such as Lyapunov analysis and describing function techniques, and more modem topics such as feedback linearization, adaptive control, and sliding control. To facilitate digestion, asterisks are used to indicate sections which, given their relative complexity, can be safely skipped in a first reading.
　　~ Currentness: In the past few years, a number of major results have been obtained in nonlinear control, particularly in nonlinear control system design and in robotics. It is one of the objectives of this book to present these new and important developments, and their implications, in a clear, easily understandable fashion. The book can thus be used as a reference and a guide to the active literature in these fields.
　　 The book is divided into two major parts. Chapters 2-5 present the major analytical tools that can be used to study a nonlinear system, while chapters 6-9 treat the major nonlinear controller design techniques. Each chapter is supplied with exercises, allowing the reader to further explore specific aspects of the material discussed. A detailed index and a bibliography are provided at the end of the book.
　　The material included exceeds what can be taught in one semester or selflearned in a short period. The book can be studied in many ways, according to the particular interests of the reader or the instructor. We recommend that a first reading include a detailed study of chapter 3 (basic Lyapunov theory), sections 4.5-4.7 (Barbalat's lemma and passivity tools), section 6.1 and parts of sections 6.2-6.4 (feedback linearization), chapter 7 (sliding control), sections 8.1-8.3 and 8.5 (adaptive control of linear and nonlinear systems), and chapter 9 (control of multi-input physical systems). Conversely, sections denoted with an asterisk can be skipped in a first reading.
　　Many colleagues, students, and friends greatly contributed to this book through stimulating discussions and judicious suggestions. Karl Hedrick provided us with continued enthusiasm and encouragement, and with many valuable comments and suggestions. Discussions with Karl AstriSm and Semyon Meerkov helped us better define the tone of the book and its mathematical level. Harry Asada, Jo Bentsman, Marika DiBenedetto, Olay Egeland, Neville Hogan, Marija Ilic, Lars Nielsen, Ken Salisbury, Sajhendra Singh, Mark Spong, David Wormley, and Dana Yoerger provided many useful suggestions and much moral support. Barbara Hove created most of the nicer drawings in the book; Giinter Niemeyer's expertise and energy was invaluable in setting up the computing and word processing environments; Hyun Yang greatly helped with the computer simulations; all three provided us with extensive technical and editorial comments. The book also greatly benefited from the interest and enthusiasm of many students who took the course at MIT.
　　Partial summer support for the first author towards the development of the book was provided by Gordon Funds. Finally, the energy and professionalism of Tim Bozik and Jennifer Wenzel at Prentice-Hall were very effective and highly appreciated.
　　Jean-Jacques E. SIotine
　　Weiping Li